Add SimReady package: front_load_washer

.gitattributes

@@ -253,3 +253,4 @@ drip_coffee_maker_v07/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs me
 drip_coffee_maker_v08/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 drip_coffee_maker_v09/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 french_press_v09/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
+front_load_washer/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text

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

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-18T18:28:08",
+  "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"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

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

@@ -0,0 +1,71 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/front_load_washer.usda.png",
+      "size": 12243,
+      "hash": {
+        "sha256-flat-1mb": "4cc6413cfa588000ba06b98443dd63c75138331a09b9e717df8ef33de972e7f0",
+        "sha256": "8df03772e58624cce4678242ecb2e45e22523f4d767ac2f38092282971b567a8"
+      }
+    },
+    {
+      "relative_path": "simready_usd/assets/drum-perforation.png",
+      "size": 1099274,
+      "hash": {
+        "sha256-flat-1mb": "d61637283e7be06bbac1e97943b6020788f631f4da62091d2f8a2fac2e5877f9",
+        "sha256": "9ba365fd92f4bec8e80e3038e760bae02c8236de2283ae1ef12f20c78b236b08",
+        "sha256-first1m": "c76a917a03df793e6543acaab147b09e09e3c90c4b15baf59f7ac2d0bc36ec0a"
+      }
+    },
+    {
+      "relative_path": "simready_usd/assets/washer-panel.png",
+      "size": 510189,
+      "hash": {
+        "sha256-flat-1mb": "c04dc13571c9f7910c3d676135f55ab4f4ce56ba314d3bbaf39170b26352d270",
+        "sha256": "6558f0a46720d4a79cfee739cd253fe0ffc4c1a5aa8298c88eb7939bb2a57aef"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/animation.usda",
+      "size": 3793,
+      "hash": {
+        "sha256-flat-1mb": "f747c71bc8e3fbdbc2e734da2d1c1f420221b0c16e304dba4b3adcdfaa29671f",
+        "sha256": "59d73c5c0a617c2e10c310838fd5486015f9cea17ebfa6767eb5533149fe6b50"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/geometry.usda",
+      "size": 24883275,
+      "hash": {
+        "sha256-flat-1mb": "fc03b77dd5c1e9eb96fc9807cb207230ce25c7cdffb176f8e23faf136488db11",
+        "sha256": "bbaa31711a925d7c0673d6e04baea6390f39fe03972f93f97a34eb4da0e6f211",
+        "sha256-first1m": "c472ca218aacb87fe177e2e93268b56199589743ca4ea3fbc557853f9ff9af35"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/physics.usda",
+      "size": 242205,
+      "hash": {
+        "sha256-flat-1mb": "da0bd8990f4ae69b048b23cc4ada2ac6c247449b0e7b99c02b803c5c0eecc4d8",
+        "sha256": "fa9c782b68fdbaa1f214627ba63019dd7c59e06898b0f51376fc982b70e2f125"
+      }
+    },
+    {
+      "relative_path": "simready_usd/front_load_washer.usda",
+      "size": 36186,
+      "hash": {
+        "sha256-flat-1mb": "024c3920039d622648d32e8288611e8f94b2f858c9ff245155dbd96480dac1ae",
+        "sha256": "b956932967aa469ac2aca76df7e00fd970ead24b8d91c726c326946a0bf4c713"
+      }
+    },
+    {
+      "relative_path": "simready_usd/materials/forgecad_glass.mdl",
+      "size": 730,
+      "hash": {
+        "sha256-flat-1mb": "db7de3ef407c72b392e9e66f2540b02af30055a36c9c503b5e7badfbd4e4d2ee",
+        "sha256": "919206332099d3a5dd4a9452c20830955ee94ead23c0c30bb381dbbf1912f1a4"
+      }
+    }
+  ]
+}

front_load_washer/.metadata/front_load_washer_benchmark.json

@@ -0,0 +1,2399 @@
+{
+  "schema_version": "1.0",
+  "asset": "front_load_washer",
+  "run_timestamp": "2026-10-18T18:28:05Z",
+  "passed": true,
+  "results": [
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 18.836,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.384,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 211.49,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.19,
+          "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": 2.4e-05,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 5e-06,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 45.0,
+          "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": 21.782,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.786,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 236.65,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.02,
+          "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": 2.8e-05,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 6e-06,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 225.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "display_color_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 19.615,
+      "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": 36,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 36,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 36,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 1.513,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 302.56,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.549,
+          "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": 366371,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 366913,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.2653,
+            0.2667,
+            0.2663
+          ],
+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 3e-06,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 1.0,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "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": "display_color_response",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 24.973,
+      "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": 36,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 36,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 36,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 1.622,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 324.41,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.51,
+          "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": 366364,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 366930,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.2653,
+            0.2666,
+            0.2662
+          ],
+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 0.0,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 1.0,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "value": 0.999997,
+          "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": 0.183,
+      "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": 0.0,
+      "message": "Requires FET_003_NEWTON to be validated first: grasp-and-lift depends on the active runtime physics setup, and FET_003_NEWTON is not in this asset's validated features.",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.237,
+      "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
+      "metrics": {
+        "ground_drop_skipped": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "joint_movement",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 127.984,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 19.389,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 45,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 430.88,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.478,
+          "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": 180.0,
+          "unit": null
+        },
+        "jm_joint_door_trans_pct": {
+          "value": 70.27,
+          "unit": null
+        },
+        "jm_joint_door_bbox_m": {
+          "value": 0.7506,
+          "unit": null
+        },
+        "jm_joint_door_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_drum_rot_deg": {
+          "value": 179.725,
+          "unit": null
+        },
+        "jm_joint_drum_trans_pct": {
+          "value": 24.88,
+          "unit": null
+        },
+        "jm_joint_drum_bbox_m": {
+          "value": 0.804,
+          "unit": null
+        },
+        "jm_joint_drum_pct_of_travel": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jm_joint_motor_rot_deg": {
+          "value": 178.745,
+          "unit": null
+        },
+        "jm_joint_motor_trans_pct": {
+          "value": 357.43,
+          "unit": null
+        },
+        "jm_joint_motor_bbox_m": {
+          "value": 0.056,
+          "unit": null
+        },
+        "jm_joint_motor_pct_of_travel": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jm_joint_drawer_rot_deg": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jm_joint_drawer_trans_pct": {
+          "value": 61.04,
+          "unit": null
+        },
+        "jm_joint_drawer_bbox_m": {
+          "value": 0.4095,
+          "unit": null
+        },
+        "jm_joint_drawer_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_dial_rot_deg": {
+          "value": 178.952,
+          "unit": null
+        },
+        "jm_joint_dial_trans_pct": {
+          "value": 231.62,
+          "unit": null
+        },
+        "jm_joint_dial_bbox_m": {
+          "value": 0.0863,
+          "unit": null
+        },
+        "jm_joint_dial_pct_of_travel": {
+          "value": 54.2,
+          "unit": null
+        },
+        "jm_joint_start_button_rot_deg": {
+          "value": 0.04,
+          "unit": null
+        },
+        "jm_joint_start_button_trans_pct": {
+          "value": 4.98,
+          "unit": null
+        },
+        "jm_joint_start_button_bbox_m": {
+          "value": 0.0302,
+          "unit": null
+        },
+        "jm_joint_start_button_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joints_total": {
+          "value": 6,
+          "unit": null
+        },
+        "jm_joints_passed": {
+          "value": 6,
+          "unit": null
+        },
+        "jm_joints_failed": {
+          "value": 0,
+          "unit": null
+        },
+        "jm_joint_door_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_drum_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_motor_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_drawer_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_dial_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_start_button_status": {
+          "value": "passed",
+          "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."
+        },
+        {
+          "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": 20.66,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 9.599,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 319.96,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.211,
+          "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": 0.762772,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.000309,
+          "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": 22.858,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 11.557,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 385.23,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 3.396,
+          "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": 0.764383,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.000324,
+          "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": 7.744,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.715,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 214.41,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.689,
+          "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": 0.007027,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.03723,
+          "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": "normals_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 8.882,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.535,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 316.89,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.973,
+          "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": 0.006978,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.03613,
+          "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": 24.071,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 5.327,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 266.34,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 4.878,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_score": {
+          "value": 0.9,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 0.0,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "pivot",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 21.232,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 5.04,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 251.98,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.742,
+          "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": 3.371,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.604,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 301.82,
+          "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": 0.349396,
+          "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": 3.657,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.614,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 306.95,
+          "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": 0.349405,
+          "unit": null
+        },
+        "presence_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "preview_surface_renders",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 8.523,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.532,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 383.1,
+          "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": 23,
+          "unit": null
+        },
+        "universal_surface_materials_with_mdl": {
+          "value": 1,
+          "unit": null
+        },
+        "universal_surface_materials_with_mtlx": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_total": {
+          "value": 23,
+          "unit": null
+        },
+        "universal_surface_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "universal_surface_contexts_present": {
+          "value": "mdl, universal",
+          "unit": null
+        },
+        "universal_surface_render_context_order": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_silhouette_pixels": {
+          "value": 365982,
+          "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": 10.022,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.91,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 477.46,
+          "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": 23,
+          "unit": null
+        },
+        "universal_surface_materials_with_mdl": {
+          "value": 1,
+          "unit": null
+        },
+        "universal_surface_materials_with_mtlx": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_total": {
+          "value": 23,
+          "unit": null
+        },
+        "universal_surface_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "universal_surface_contexts_present": {
+          "value": "mdl, universal",
+          "unit": null
+        },
+        "universal_surface_render_context_order": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_silhouette_pixels": {
+          "value": 365955,
+          "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": "semantic_labels_seg_labelled",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 8.747,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.399,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 4398.79,
+          "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": 1,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry[semantic_labels_rgb_001.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "semantic_labels_on_coverage": {
+          "value": 0.348512,
+          "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": 7.615,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.859,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 3859.34,
+          "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": 1,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry[semantic_labels_rgb_001.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "semantic_labels_on_coverage": {
+          "value": 0.348512,
+          "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": 3.8,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 24,
+          "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": 3.728,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 24,
+          "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": "skipped",
+      "passed": false,
+      "duration": 0.273,
+      "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
+      "metrics": {
+        "slope_drop_skipped": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    }
+  ]
+}

front_load_washer/.metadata/front_load_washer_validation.json

@@ -0,0 +1,175 @@
+{
+    "simready_usd/front_load_washer.usda": {
+        "features_summary": {
+            "FET_000_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.007']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.004']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_001_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "1.0.1"
+            },
+            "FET_003_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_003_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_004_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
+                "passed": false,
+                "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"
+        }
+    }
+}

front_load_washer/com.nvidia.simready.packaging.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.ForgeCAD.simready-assets.front_load_washer.2026.10.17_00",
+  "license": "cc-by-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "c39dfd2de964983aa1cedd16e68787138aa96e38af61d3e1b7252927a727ac56"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "0a00ff938bdfcf1be2e73c7535c68929a557cd18518b931f193b1e76e4298938"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "38d97b65f28df0ed999395f9091fc951a58f9f89a45fdbeb00122557d5223f01"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "d1377a32f97a538ff9873bee7eddb48b7fb67f377c8061446be6d64016896354"
+  },
+  "package_hash": {
+    "sha256": "8618da25f48a736c3300b200df4e907deb989e57df62b1d769cf730ea4443b3d"
+  }
+}

front_load_washer/simready_usd/forgecad/animation.usda

@@ -0,0 +1,113 @@
+#usda 1.0
+(
+    defaultPrim = "Model"
+    doc = "ForgeCAD animation clips for the root stage. Generated by forgecad export usd; do not edit."
+    endTimeCode = 288
+    startTimeCode = 0
+    timeCodesPerSecond = 24
+)
+
+over "Model" (
+    prepend variantSets = "animation"
+    variants = {
+        string animation = "static"
+    }
+)
+{
+    variantSet "animation" = {
+        "static" {
+        }
+        "Load_laundry" {
+            over "Geometry"
+            {
+                over "Cabinet"
+                {
+                    over "Door"
+                    {
+                        float xformOp:rotateX:door.timeSamples = {
+                            0: 0,
+                            36: 180,
+                            72: 180,
+                            108: 0,
+                            144: 0,
+                            180: 0,
+                            216: 0,
+                            252: 0,
+                            288: 0,
+                        }
+                    }
+                    over "Drum"
+                    {
+                        float xformOp:rotateX:drum.timeSamples = {
+                            0: 0,
+                            36: 0,
+                            72: 360,
+                            108: 360,
+                            144: 360,
+                            180: 360,
+                            216: 360,
+                            252: 360,
+                            288: 360,
+                        }
+                    }
+                    over "Motor_rotor"
+                    {
+                        float xformOp:rotateX:motor.timeSamples = {
+                            0: 0,
+                            36: 0,
+                            72: 3731.830986,
+                            108: 3731.830986,
+                            144: 3731.830986,
+                            180: 3731.830986,
+                            216: 3731.830986,
+                            252: 3731.830986,
+                            288: 3731.830986,
+                        }
+                    }
+                    over "Detergent_drawer"
+                    {
+                        double3 xformOp:translate:drawer.timeSamples = {
+                            0: (0, 0, 0),
+                            36: (0, 0, 0),
+                            72: (0, 0, 0),
+                            108: (0, 0, 0),
+                            144: (0.25, 0, 0),
+                            180: (0, 0, 0),
+                            216: (0, 0, 0),
+                            252: (0, 0, 0),
+                            288: (0, 0, 0),
+                        }
+                    }
+                    over "Program_dial"
+                    {
+                        float xformOp:rotateX:dial.timeSamples = {
+                            0: 0,
+                            36: 0,
+                            72: 0,
+                            108: 0,
+                            144: 0,
+                            180: 150,
+                            216: 150,
+                            252: 150,
+                            288: 0,
+                        }
+                    }
+                    over "Start_button"
+                    {
+                        double3 xformOp:translate:start_button.timeSamples = {
+                            0: (0, 0, 0),
+                            36: (0, 0, 0),
+                            72: (0, 0, 0),
+                            108: (0, 0, 0),
+                            144: (0, 0, 0),
+                            180: (0, 0, 0),
+                            216: (0.0015, 0, 0),
+                            252: (0, 0, 0),
+                            288: (0, 0, 0),
+                        }
+                    }
+                }
+            }
+        }
+    }
+}

front_load_washer/simready_usd/forgecad/geometry.usda

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbaa31711a925d7c0673d6e04baea6390f39fe03972f93f97a34eb4da0e6f211
+size 24883275

front_load_washer/simready_usd/front_load_washer.usda

@@ -0,0 +1,1030 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            float3 asset_extents = (0.598, 0.63, 0.85)
+            string asset_license = "CC-BY-4.0"
+            string asset_name = "front_load_washer"
+            string asset_type = "prop"
+            string author = "ForgeCAD"
+            string category = "household appliance"
+            double mass = 70.65430228505284
+            string qcode = "Q124441"
+            int rigid_body_count = 7
+            string source = "ForgeCAD"
+            string source_file = "main.usda"
+            string usd_date_generated = "2026-10-17"
+        }
+        string asset_name = "front_load_washer"
+        string asset_type = "prop"
+        string source_file = "main.usda"
+        string usd_date_generated = "2026-10-17"
+    }
+    defaultPrim = "Model"
+    doc = """020 Front-load washing machine root stage. Geometry, parameters, joints, and physics come from main.forge.js.
+This stage owns the materials, the two textures, and two material-only choices:
+finish (white, graphite, silver) and doorRing (chrome, white, graphite; the definition's Door ring control).
+Every part hangs under Cabinet because every joint's parent is the Cabinet."""
+    endTimeCode = 288
+    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 doorRing = "chrome"
+        string finish = "white"
+        string physics = "physics"
+    }
+    prepend variantSets = ["physics", "finish", "doorRing"]
+)
+{
+    token[] semantics:labels:class = ["washing machine"]
+    token[] semantics:labels:wikidata_qcode = ["Q124441"]
+
+    over "Geometry"
+    {
+        over "Cabinet"
+        {
+            over "Shell" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Body>
+            }
+
+            over "Top" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Top>
+            }
+
+            over "Fascia" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Fascia>
+            }
+
+            over "Plinth" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Body>
+            }
+
+            over "Filter_flap" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Body>
+            }
+
+            over "Hinge" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/DarkPlastic>
+            }
+
+            over "Hinge_stop" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/DarkPlastic>
+            }
+
+            over "Latch" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/DarkPlastic>
+            }
+
+            over "Dispenser" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/TrayPlastic>
+            }
+
+            over "Buttons" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Buttons>
+            }
+
+            over "Display" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Display>
+            }
+
+            over "Dial_stop" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/DarkPlastic>
+            }
+
+            over "Feet" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackRubber>
+            }
+
+            over "Rear_fittings" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Fittings>
+            }
+
+            over "Gasket"
+            {
+                over "Boot" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Rubber>
+                }
+            }
+
+            over "Tub_unit"
+            {
+                over "Tub" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/TubPlastic>
+                }
+
+                over "Counterweights" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Concrete>
+                }
+
+                over "Suspension" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/SpringSteel>
+                }
+
+                over "Motor" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/MotorGrey>
+                }
+
+                over "Belt" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/BlackRubber>
+                }
+
+                over "Pump" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/PumpPlastic>
+                }
+
+                over "Hose" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/BlackRubber>
+                }
+            }
+
+            over "Program_panel"
+            {
+                over "Print" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Print>
+                }
+            }
+
+            over "Door"
+            {
+                over "Frame" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/DoorFrame>
+                }
+
+                over "Trim" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Trim>
+                }
+
+                over "Glass" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Glass>
+                }
+
+                over "Handle" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/DoorFrame>
+                }
+
+                over "Hinge_arm" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/DarkPlastic>
+                }
+            }
+
+            over "Drum"
+            {
+                over "Drum_shell" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/DrumSteel>
+                }
+
+                over "Spider" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Aluminium>
+                }
+            }
+
+            over "Motor_rotor"
+            {
+                over "Pulley" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Aluminium>
+                }
+            }
+
+            over "Detergent_drawer"
+            {
+                over "Front" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Fascia>
+                }
+
+                over "Tray" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/TrayPlastic>
+                }
+
+                over "Siphon_cap" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/SiphonCap>
+                }
+            }
+
+            over "Program_dial"
+            {
+                over "Knob" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Knob>
+                }
+            }
+
+            over "Start_button"
+            {
+                over "Cap" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Buttons>
+                }
+            }
+        }
+    }
+
+    def Scope "Materials"
+    {
+        def Material "Glass" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:mdl:surface.connect = </Model/Materials/Glass/GlassSurface.outputs:out>
+            token outputs:surface.connect = </Model/Materials/Glass/Surface.outputs:surface>
+            token[] semantics:labels:material = ["glass"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.2, 0.22, 0.24)
+                float inputs:ior = 1.52
+                float inputs:metallic = 0
+                float inputs:opacity = 0.3
+                float inputs:roughness = 0.04
+                token outputs:surface
+            }
+
+            def Shader "GlassSurface"
+            {
+                uniform token info:implementationSource = "sourceAsset"
+                uniform token info:mdl:materialType = "forgecad_glass"
+                uniform asset info:mdl:sourceAsset = @./materials/forgecad_glass.mdl@
+                uniform token info:mdl:sourceAsset:subIdentifier = "forgecad_glass"
+                float inputs:clarity = 0.7
+                float inputs:ior = 1.52
+                float inputs:roughness = 0.04
+                color3f inputs:tint = (0.2, 0.22, 0.24)
+                token outputs:out
+            }
+        }
+
+        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 = (0.3, 0.31, 0.33)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.8
+                token outputs:surface
+            }
+        }
+
+        def Material "BlackRubber" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/BlackRubber/Surface.outputs:surface>
+            token[] semantics:labels:material = ["rubber"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.04, 0.04, 0.045)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.85
+                token outputs:surface
+            }
+        }
+
+        def Material "DrumSteel" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/DrumSteel/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/DrumSteel/St.outputs:result>
+                float2 inputs:scale = (10.4167, 11.2847)
+                float2 inputs:translation = (0, 0)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/drum-perforation.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/DrumSteel/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/DrumSteel/Albedo.outputs:rgb>
+                float inputs:metallic = 1
+                float inputs:roughness = 0.28
+                token outputs:surface
+            }
+        }
+
+        def Material "Aluminium" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Aluminium/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.68, 0.69, 0.7)
+                float inputs:metallic = 1
+                float inputs:roughness = 0.45
+                token outputs:surface
+            }
+        }
+
+        def Material "DarkPlastic" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/DarkPlastic/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.12, 0.12, 0.13)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.45
+                token outputs:surface
+            }
+        }
+
+        def Material "TrayPlastic" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/TrayPlastic/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.93, 0.93, 0.91)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.45
+                token outputs:surface
+            }
+        }
+
+        def Material "SiphonCap" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/SiphonCap/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.42, 0.55, 0.66)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.4
+                token outputs:surface
+            }
+        }
+
+        def Material "Display" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Display/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                float inputs:clearcoat = 1
+                float inputs:clearcoatRoughness = 0.03
+                color3f inputs:diffuseColor = (0.015, 0.017, 0.02)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.05
+                token outputs:surface
+            }
+        }
+
+        def Material "Print" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Print/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/Print/St.outputs:result>
+                float2 inputs:scale = (-11.1111, 7.40741)
+                float2 inputs:translation = (-8.17748, 0.499414)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/washer-panel.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/Print/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/Print/Albedo.outputs:rgb>
+                float inputs:metallic = 0
+                float inputs:roughness = 0.2
+                token outputs:surface
+            }
+        }
+
+        def Material "Buttons" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Buttons/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.72, 0.73, 0.75)
+                float inputs:metallic = 0.2
+                float inputs:roughness = 0.35
+                token outputs:surface
+            }
+        }
+
+        def Material "Knob" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Knob/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.78, 0.79, 0.8)
+                float inputs:metallic = 0.6
+                float inputs:roughness = 0.25
+                token outputs:surface
+            }
+        }
+
+        def Material "TubPlastic" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/TubPlastic/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.52, 0.53, 0.54)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.6
+                token outputs:surface
+            }
+        }
+
+        def Material "Concrete" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Concrete/Surface.outputs:surface>
+            token[] semantics:labels:material = ["concrete"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.47, 0.47, 0.45)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.95
+                token outputs:surface
+            }
+        }
+
+        def Material "SpringSteel" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/SpringSteel/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.08, 0.08, 0.09)
+                float inputs:metallic = 0.6
+                float inputs:roughness = 0.4
+                token outputs:surface
+            }
+        }
+
+        def Material "MotorGrey" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/MotorGrey/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.35, 0.37, 0.4)
+                float inputs:metallic = 0.5
+                float inputs:roughness = 0.45
+                token outputs:surface
+            }
+        }
+
+        def Material "PumpPlastic" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/PumpPlastic/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.4, 0.42, 0.45)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.55
+                token outputs:surface
+            }
+        }
+
+        def Material "Fittings" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Fittings/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.55, 0.57, 0.6)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.5
+                token outputs:surface
+            }
+        }
+    }
+    variantSet "finish" = {
+        "graphite" {
+            over "Materials"
+            {
+                def Material "Body" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Body/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["metal"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        float inputs:clearcoat = 0.5
+                        float inputs:clearcoatRoughness = 0.15
+                        color3f inputs:diffuseColor = (0.16, 0.165, 0.175)
+                        float inputs:metallic = 0.35
+                        float inputs:roughness = 0.35
+                        token outputs:surface
+                    }
+                }
+
+                def Material "Top" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Top/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["metal"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.14, 0.145, 0.155)
+                        float inputs:metallic = 0.3
+                        float inputs:roughness = 0.4
+                        token outputs:surface
+                    }
+                }
+
+                def Material "Fascia" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Fascia/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["plastic"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        float inputs:clearcoat = 0.5
+                        float inputs:clearcoatRoughness = 0.1
+                        color3f inputs:diffuseColor = (0.1, 0.1, 0.11)
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.25
+                        token outputs:surface
+                    }
+                }
+
+                def Material "DoorFrame" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/DoorFrame/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["plastic"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        float inputs:clearcoat = 0.5
+                        float inputs:clearcoatRoughness = 0.1
+                        color3f inputs:diffuseColor = (0.12, 0.12, 0.13)
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.25
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+        "silver" {
+            over "Materials"
+            {
+                def Material "Body" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Body/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["metal"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        float inputs:clearcoat = 0.4
+                        float inputs:clearcoatRoughness = 0.15
+                        color3f inputs:diffuseColor = (0.64, 0.655, 0.67)
+                        float inputs:metallic = 0.75
+                        float inputs:roughness = 0.32
+                        token outputs:surface
+                    }
+                }
+
+                def Material "Top" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Top/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["metal"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.66, 0.67, 0.69)
+                        float inputs:metallic = 0.7
+                        float inputs:roughness = 0.35
+                        token outputs:surface
+                    }
+                }
+
+                def Material "Fascia" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Fascia/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["plastic"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.7, 0.71, 0.72)
+                        float inputs:metallic = 0.6
+                        float inputs:roughness = 0.3
+                        token outputs:surface
+                    }
+                }
+
+                def Material "DoorFrame" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/DoorFrame/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["plastic"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.68, 0.69, 0.7)
+                        float inputs:metallic = 0.7
+                        float inputs:roughness = 0.25
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+        "white" {
+            over "Materials"
+            {
+                def Material "Body" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Body/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["metal"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        float inputs:clearcoat = 0.6
+                        float inputs:clearcoatRoughness = 0.1
+                        color3f inputs:diffuseColor = (0.84, 0.85, 0.86)
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.32
+                        token outputs:surface
+                    }
+                }
+
+                def Material "Top" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Top/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["metal"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.88, 0.88, 0.875)
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.45
+                        token outputs:surface
+                    }
+                }
+
+                def Material "Fascia" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Fascia/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["plastic"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        float inputs:clearcoat = 0.5
+                        float inputs:clearcoatRoughness = 0.08
+                        color3f inputs:diffuseColor = (0.9, 0.9, 0.91)
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.22
+                        token outputs:surface
+                    }
+                }
+
+                def Material "DoorFrame" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/DoorFrame/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["plastic"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        float inputs:clearcoat = 0.5
+                        float inputs:clearcoatRoughness = 0.08
+                        color3f inputs:diffuseColor = (0.9, 0.9, 0.91)
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.22
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+    }
+    variantSet "doorRing" = {
+        "chrome" {
+            over "Materials"
+            {
+                def Material "Trim" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Trim/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["plastic"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.86, 0.87, 0.88)
+                        float inputs:metallic = 1
+                        float inputs:roughness = 0.08
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+        "graphite" {
+            over "Materials"
+            {
+                def Material "Trim" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Trim/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["plastic"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.2, 0.2, 0.22)
+                        float inputs:metallic = 0.6
+                        float inputs:roughness = 0.3
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+        "white" {
+            over "Materials"
+            {
+                def Material "Trim" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Trim/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["plastic"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.95, 0.95, 0.95)
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.25
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+    }
+    variantSet "physics" = {
+        "none" {
+
+        }
+        "physics" (
+            prepend references = @./forgecad/physics.usda@</Model>
+        ) {
+
+        }
+    }
+}
+

front_load_washer/simready_usd/materials/forgecad_glass.mdl

@@ -0,0 +1,25 @@
+mdl 1.4;
+
+import ::df::*;
+
+// ForgeCAD glass: a clear or tinted dielectric that reflects and refracts.
+// clarity is the see-through share; the rest is a diffuse surface of the same tint.
+export material forgecad_glass(
+    color tint = color(1.0),
+    float roughness = 0.0,
+    uniform float ior = 1.5,
+    float clarity = 1.0
+) = material(
+    ior: color(ior),
+    surface: material_surface(
+        scattering: df::weighted_layer(
+            weight: clarity,
+            layer: df::simple_glossy_bsdf(
+                roughness_u: roughness * roughness,
+                tint: tint,
+                mode: df::scatter_reflect_transmit
+            ),
+            base: df::diffuse_reflection_bsdf(tint: tint)
+        )
+    )
+);