Add SimReady package: laundry_dlex4000b

.gitattributes

@@ -82,3 +82,4 @@ cooking_ldgl6924s/_backups/cooking_ldgl6924s.usd.bak_preDocFix filter=lfs diff=l
 cooking_ldgl6924s/_backups/cooking_ldgl6924s.usd.bak_preLinksFolder filter=lfs diff=lfs merge=lfs -text
 styler_sc5gmr80h/_backups/styler_sc5gmr80h.usd.bak_preDocFix filter=lfs diff=lfs merge=lfs -text
 cooking_mser1130b/simready_usd/cooking_mser1130b.usd filter=lfs diff=lfs merge=lfs -text
+laundry_dlex4000b/simready_usd/laundry_dlex4000b.usd filter=lfs diff=lfs merge=lfs -text

laundry_dlex4000b/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json

@@ -0,0 +1,35 @@
+{
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+  "profile": "Package",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-13T07:34:12",
+  "assets": [
+    {
+      "asset": "com.nvidia.simready.packaging.json",
+      "features": [
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+            "failing_requirements": [],
+            "dependencies": []
+          }
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+            "failing_requirements": [],
+            "dependencies": [
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+                "FET_030_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

laundry_dlex4000b/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,168 @@
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laundry_dlex4000b/.metadata/laundry_dlex4000b_benchmark.json

@@ -0,0 +1,2112 @@
+{
+  "schema_version": "1.0",
+  "asset": "laundry_dlex4000b",
+  "run_timestamp": "2026-10-13T07:34:11Z",
+  "passed": true,
+  "results": [
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 4.896,
+      "message": "",
+      "metrics": {
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+        "_timing_capture_frame_count": {
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+        "_timing_encode_video_count": {
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+          "unit": null
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+        "_render_blank_retry_count": {
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+          "unit": null
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+        "_render_blank_retry_unrecovered": {
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+          "unit": null
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+        "culling_xz_max_diff": {
+          "value": 4e-06,
+          "unit": null
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+        "culling_xz_mean_diff": {
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+          "unit": null
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+        "culling_xz_worst_angle": {
+          "value": 270.0,
+          "unit": null
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+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
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+      },
+      "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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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": 5.62,
+      "message": "",
+      "metrics": {
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+          "unit": null
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+        "_timing_capture_frame_count": {
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+          "unit": null
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+        "_timing_capture_frame_avg_ms": {
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+          "unit": null
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+        "_timing_encode_video_total_s": {
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+          "unit": null
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+        "_timing_encode_video_count": {
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+          "unit": null
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+        "_render_blank_retry_count": {
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+          "unit": null
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+        "_render_blank_retry_unrecovered": {
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+          "unit": null
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+        "culling_xz_max_diff": {
+          "value": 7e-06,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 1e-06,
+          "unit": null
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+        "culling_xz_worst_angle": {
+          "value": 270.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 15.616,
+      "message": "",
+      "metrics": {
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+          "unit": null
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+        "ground_drop_bbox_height": {
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+          "unit": null
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+        "ground_drop_effective_fall": {
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+        "_timing_capture_frame_count": {
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+        "_timing_capture_frame_avg_ms": {
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+        "_timing_encode_video_total_s": {
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+        "_timing_encode_video_count": {
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+        "_render_blank_retry_count": {
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+        "ground_drop_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_touch_time": {
+          "value": 0.517,
+          "unit": null
+        },
+        "ground_drop_rest_time": {
+          "value": 2.529,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "joint_movement",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 26.284,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 5.965,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 45,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 132.55,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.059,
+          "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_joint_rot_deg": {
+          "value": 130.0,
+          "unit": null
+        },
+        "jm_joint_Door_joint_trans_pct": {
+          "value": 91.59,
+          "unit": null
+        },
+        "jm_joint_Door_joint_bbox_m": {
+          "value": 0.8484,
+          "unit": null
+        },
+        "jm_joint_Door_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_Drum_joint_rot_deg": {
+          "value": 30.0,
+          "unit": null
+        },
+        "jm_joint_Drum_joint_trans_pct": {
+          "value": 31.37,
+          "unit": null
+        },
+        "jm_joint_Drum_joint_bbox_m": {
+          "value": 1.0989,
+          "unit": null
+        },
+        "jm_joint_Drum_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joints_total": {
+          "value": 2,
+          "unit": null
+        },
+        "jm_joints_passed": {
+          "value": 2,
+          "unit": null
+        },
+        "jm_joints_failed": {
+          "value": 0,
+          "unit": null
+        },
+        "jm_joint_Door_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_Drum_joint_status": {
+          "value": "passed",
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 7.03,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.423,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 80.76,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.796,
+          "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": 0.517241,
+          "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": 15,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.743952,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.006273,
+          "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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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": 7.421,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.236,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 74.52,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.799,
+          "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": 0.517241,
+          "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": 15,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.745124,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.005447,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "normals_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.005,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.579,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 72.35,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.44,
+          "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": 0.000497,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.00156,
+          "unit": null
+        },
+        "normals_xz_problem_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "normals_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 2.739,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.628,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 78.51,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.45,
+          "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": 0.000501,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.001845,
+          "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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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": 6.248,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.86,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 93.0,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.014,
+          "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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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": 6.561,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.91,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 95.5,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.001,
+          "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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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": 0.982,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.133,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 66.39,
+          "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": 0.343584,
+          "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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "presence",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 1.127,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.155,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 77.69,
+          "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": 0.343584,
+          "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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "preview_surface_renders",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 2.072,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.657,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 164.16,
+          "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": 28,
+          "unit": null
+        },
+        "universal_surface_materials_with_mdl": {
+          "value": 28,
+          "unit": null
+        },
+        "universal_surface_materials_with_mtlx": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_total": {
+          "value": 28,
+          "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": 359624,
+          "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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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": 2.545,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.67,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 167.56,
+          "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": 28,
+          "unit": null
+        },
+        "universal_surface_materials_with_mdl": {
+          "value": 28,
+          "unit": null
+        },
+        "universal_surface_materials_with_mtlx": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_total": {
+          "value": 28,
+          "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": 359673,
+          "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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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": 1.265,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.221,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 220.73,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "semantic_labels_on_coverage": {
+          "value": 0.342665,
+          "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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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": 1.404,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.327,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 326.97,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "semantic_labels_on_coverage": {
+          "value": 0.342665,
+          "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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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": 1.183,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 3,
+          "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": 1.109,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 3,
+          "unit": null
+        },
+        "semantic_labels_off_coverage": {
+          "value": 0.0,
+          "unit": null
+        },
+        "semantic_labels_stripped_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "slope_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 33.557,
+      "message": "",
+      "metrics": {
+        "slope_drop_initial_cx": {
+          "value": 0.0,
+          "unit": null
+        },
+        "slope_drop_initial_cy": {
+          "value": -3.9125,
+          "unit": null
+        },
+        "slope_drop_initial_z_min": {
+          "value": 11.1687,
+          "unit": null
+        },
+        "slope_drop_bbox_height": {
+          "value": 0.988,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 5.875,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 54,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 108.79,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.418,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_contact_detected": {
+          "value": 1,
+          "unit": null
+        },
+        "slope_drop_horiz_detected": {
+          "value": 1,
+          "unit": null
+        },
+        "slope_drop_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_slope_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_excessive_separation": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_uphill_motion": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "slope_drop_max_clearance": {
+          "value": 0.0068,
+          "unit": "m"
+        },
+        "slope_drop_separation_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_left_slope_frame": {
+          "value": 676,
+          "unit": null
+        },
+        "slope_drop_horiz_time": {
+          "value": 0.55,
+          "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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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>/Workspace/NV/IsaacLab/.venv/lib/python3.12/site-packages/isaacsim/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'"
+        }
+      ]
+    }
+  ]
+}

laundry_dlex4000b/.metadata/laundry_dlex4000b_validation.json

@@ -0,0 +1,176 @@
+{
+    "simready_usd/laundry_dlex4000b.usd": {
+        "features_summary": {
+            "FET_000_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.007', 'com.nvidia.simready.SR.001']",
+                "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', 'com.nvidia.simready.SR.001']",
+                "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', 'com.nvidia.simready.SR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.SR.001']",
+                "passed": false,
+                "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": "[]",
+                "optional requirements": "['com.nvidia.simready.GSP.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_006_MDL": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.TEX.005']",
+                "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.004']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_010_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.DISP.001']",
+                "passed": false,
+                "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": {
+            "tier_core": "2026.8.0"
+        }
+    }
+}

laundry_dlex4000b/com.nvidia.simready.packaging.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.LGElectronics.simready-assets.laundry_dlex4000b.2026.10.13_00",
+  "license": "cc-by-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "5d36f74c13d570f079a1ebf60ee5b3abbbef7c03ab3eccf6810a03c8b7b262cb"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "816ff9d8e6e6b669e1dade2eeb7ba62761d3de024d65f6d27c39e63116b7e0cc"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "9415a469ee6a9f76b2e2801f1e480dc733b760dcb55e8cec34fef478a11ffb40"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "5bc5e4ce177dd068d6996ebf3bded484da4d1f217e899c9d5f0297ca22342817"
+  },
+  "package_hash": {
+    "sha256": "4c503b4ab48c20a3e8118dc4a8af365797f420c1a16ff5faf7abc6fa179edced"
+  }
+}

laundry_dlex4000b/simready_usd/laundry_dlex4000b.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:572a7c7081aef1a42514ff3efa63855ba2689dbb983421567d602d9bf04bb152
+size 10675314

laundry_dlex4000b/simready_usd/materials/mdl/pbr.mdl

@@ -0,0 +1,1004 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+mdl 1.8;
+
+import ::anno::*;
+import ::base::*;
+import ::df::*;
+import ::math::*;
+import ::state::*;
+import ::tex::*;
+import ::scene::*;
+import ::limits::*;
+
+export enum gltf_alpha_mode {
+    opaque,
+    mask,
+    blend
+};
+
+export enum gltf_wrapping_mode {
+    clamp_to_edge = 33071,
+    mirrored_repeat = 33648,
+    repeat = 10497
+};
+
+export struct gltf_texture_lookup_value
+{
+    bool valid = false;
+    float4 value = float4(0.0, 0.0, 0.0, 1.0);
+};
+
+export struct gltf_normal_texture_lookup_value
+{
+    bool valid = false;
+    float3 value = float3(0.0);
+};
+
+float compute_opacity(gltf_alpha_mode mode, float alpha, float cutoff) {
+    switch (mode) {
+        case mask:
+            return alpha < cutoff ? 0.0 : 1.0;
+        case blend:
+            return alpha;
+        case opaque:
+            return 1.0;
+    }
+}
+
+float4 gltf_prepare_tex_float4(gltf_texture_lookup_value sample, float4 default_value = float4(1.0)) {
+    return sample.valid ? sample.value : default_value;
+}
+
+float3 gltf_prepare_tex_float3(gltf_texture_lookup_value sample, float3 default_value = float3(1.0)) {
+    return sample.valid ? float3(sample.value.x, sample.value.y, sample.value.z) : default_value;
+}
+
+float3 gltf_prepare_normal(gltf_normal_texture_lookup_value sample) {
+    return sample.valid ? sample.value : state::normal();
+}
+
+float gltf_prepare_occlusion(gltf_texture_lookup_value sample, float occlusion_strength) {
+    float occulusion = sample.valid ? sample.value.x : 1.0;
+    return math::lerp(1.0, occulusion, occlusion_strength);
+}
+
+color gltf_perpare_emission(gltf_texture_lookup_value sample, color emissive_factor) {
+    return emissive_factor * color(gltf_prepare_tex_float3(sample));
+}
+
+::tex::wrap_mode convert_wrap_mode(gltf_wrapping_mode mode)
+{
+    if (mode == clamp_to_edge)
+        return ::tex::wrap_clamp;
+    if (mode == mirrored_repeat)
+        return ::tex::wrap_mirrored_repeat;
+
+    return ::tex::wrap_repeat;
+}
+
+float2 khr_texture_transform_apply(
+    float2 coord,
+    float2 offset,
+    float rotation,
+    float2 scale
+)
+{
+    // MDL expects the texture coordinate origin at the bottom left (gltf at top left)
+    // Assuming the renderer follows the MDL specification in which case the coordinates
+    // have been flipped either while loading the glTF geometry or while setting up the state.
+
+    // Undo the flipping for the transformation to get into the original glTF texture space.
+    coord = float2(coord.x, 1.0f - coord.y);
+
+    // first scale
+    coord = coord * scale;
+    // then rotate
+    float cos_rotation = ::math::cos(rotation);
+    float sin_rotation = ::math::sin(rotation);
+    coord = float2(cos_rotation * coord.x + sin_rotation * coord.y, cos_rotation * coord.y - sin_rotation * coord.x);
+    // then translate
+    coord = coord + offset;
+
+    // flip back
+    coord = float2(coord.x, 1.0f - coord.y);
+    return coord;
+}
+
+export gltf_texture_lookup_value gltf_texture_lookup(
+    uniform texture_2d texture = texture_2d()
+    [[
+        anno::in_group("Source"),
+        anno::display_name("Texture"),
+        anno::description("Texture File")
+    ]],
+    uniform int tex_coord_index = 0
+    [[
+        anno::in_group("Source"),
+        anno::display_name("Coordinate Set"),
+        anno::description("Texture coordinate set (UV-Set). KHR_texture_transform overrides the textureInfo texCoord value if supplied."),
+        anno::enable_if("::tex::texture_isvalid(texture)")
+    ]],
+
+    uniform float2 offset = float2(0.0f, 0.0)
+    [[
+        anno::in_group("Texture Transform"),
+        anno::display_name("Offset"),
+        anno::description("The offset of the UV coordinate origin as a factor of the texture dimensions."),
+        anno::enable_if("::tex::texture_isvalid(texture)")
+    ]],
+    uniform float rotation = 0.0
+    [[
+        anno::hard_range(0.0, 2.0 * ::math::PI),
+        anno::in_group("Texture Transform"),
+        anno::display_name("Rotation"),
+        anno::description("Rotate the UVs by this many radians counter-clockwise around the origin. This is equivalent to a similar rotation of the image clockwise."),
+        anno::enable_if("::tex::texture_isvalid(texture)")
+    ]],
+    uniform float2 scale = float2(1.0f, 1.0f)
+    [[
+        anno::in_group("Texture Transform"),
+        anno::display_name("Scale"),
+        anno::description("The scale factor applied to the components of the UV coordinates."),
+        anno::enable_if("::tex::texture_isvalid(texture)")
+    ]],
+
+    uniform gltf_wrapping_mode wrap_s = repeat
+    [[
+        anno::in_group("Sampler"),
+        anno::display_name("Wrap S"),
+        anno::description("S (U) wrapping mode."),
+        anno::enable_if("::tex::texture_isvalid(texture)")
+    ]],
+    uniform gltf_wrapping_mode wrap_t = repeat
+    [[
+        anno::in_group("Sampler"),
+        anno::display_name("Wrap T"),
+        anno::description("T (V) wrapping mode."),
+        anno::enable_if("::tex::texture_isvalid(texture)")
+    ]]
+)
+[[
+    anno::author("NVIDIA Corporation"),
+    anno::display_name("GLTF Texture Lookup"),
+    anno::description("Function to read a color or color with alpha channel texture.")
+]]
+{
+    gltf_texture_lookup_value tex_ret;
+    if (!tex::texture_isvalid(texture))
+        return tex_ret;
+
+    float3 tex_coord3 = state::texture_coordinate(tex_coord_index);
+    float2 tex_coord = khr_texture_transform_apply(
+        coord: float2(tex_coord3.x, tex_coord3.y),
+        offset: offset,
+        rotation: rotation,
+        scale: scale);
+
+    tex_ret.value = tex::lookup_float4(
+        tex: texture,
+        coord: tex_coord,
+        wrap_u: convert_wrap_mode(wrap_s),
+        wrap_v: convert_wrap_mode(wrap_t));
+    tex_ret.valid = true;
+    return tex_ret;
+}
+
+export gltf_normal_texture_lookup_value gltf_normal_texture_lookup(
+    uniform texture_2d texture = texture_2d()
+    [[
+        anno::in_group("Source"),
+        anno::display_name("Texture"),
+        anno::description("Texture File")
+    ]],
+    uniform float normal_scale_factor = 1.0
+    [[
+        anno::hard_range(0.0, 1.0),
+        anno::in_group("Source"),
+        anno::display_name("Normal Scale Factor"),
+        anno::description("Strength of the base layer normal mapping."),
+        anno::enable_if("::tex::texture_isvalid(texture)")
+    ]],
+    uniform int tex_coord_index = 0
+    [[
+        anno::in_group("Source"),
+        anno::display_name("Coordinate Set"),
+        anno::description("Texture coordinate set (UV-Set). KHR_texture_transform overrides the textureInfo texCoord value if supplied."),
+        anno::enable_if("::tex::texture_isvalid(texture) && normal_scale_factor>0.0")
+    ]],
+    uniform int tex_tangent_index = 0
+    [[
+        anno::hidden(),
+        anno::in_group("Source"),
+        anno::display_name("Coordinate Set"),
+        anno::description("Tangent to be to construct the tangent frame."),
+        anno::enable_if("::tex::texture_isvalid(texture) && normal_scale_factor>0.0")
+    ]],
+
+    uniform float2 offset = float2(0.0f, 0.0)
+    [[
+        anno::in_group("Texture Transform"),
+        anno::display_name("Offset"),
+        anno::description("The offset of the UV coordinate origin as a factor of the texture dimensions."),
+        anno::enable_if("::tex::texture_isvalid(texture) && normal_scale_factor>0.0")
+    ]],
+    uniform float rotation = 0.0
+    [[
+        anno::hard_range(0.0, 2.0 * ::math::PI),
+        anno::in_group("Texture Transform"),
+        anno::display_name("Rotation"),
+        anno::description("Rotate the UVs by this many radians counter-clockwise around the origin. This is equivalent to a similar rotation of the image clockwise."),
+        anno::enable_if("::tex::texture_isvalid(texture) && normal_scale_factor>0.0")
+    ]],
+    uniform float2 scale = float2(1.0f, 1.0f)
+    [[
+        anno::in_group("Texture Transform"),
+        anno::display_name("Scale"),
+        anno::description("The scale factor applied to the components of the UV coordinates."),
+        anno::enable_if("::tex::texture_isvalid(texture) && normal_scale_factor>0.0")
+    ]],
+
+    uniform gltf_wrapping_mode wrap_s = repeat
+    [[
+        anno::in_group("Sampler"),
+        anno::display_name("Wrap S"),
+        anno::description("S (U) wrapping mode."),
+        anno::enable_if("::tex::texture_isvalid(texture) && normal_scale_factor>0.0")
+    ]],
+    uniform gltf_wrapping_mode wrap_t = repeat
+    [[
+        anno::in_group("Sampler"),
+        anno::display_name("Wrap T"),
+        anno::description("T (V) wrapping mode."),
+        anno::enable_if("::tex::texture_isvalid(texture) && normal_scale_factor>0.0")
+    ]]
+)
+[[
+    anno::author("NVIDIA Corporation"),
+    anno::display_name("GLTF Normal Texture Lookup"),
+    anno::description("Function to read a normal texture.")
+]]
+{
+    gltf_normal_texture_lookup_value tex_ret;
+    if (!::tex::texture_isvalid(texture))
+        return tex_ret;
+
+    tex_ret.value = base::tangent_space_normal_texture(
+        texture: texture,
+        factor: normal_scale_factor,
+        uvw: base::transform_coordinate(
+            transform: base::rotation_translation_scale(
+                rotation: float3(0, 0, rotation),
+                translation: float3(offset.x, offset.y, 0),
+                scaling: float3(scale.x, scale.y, 1)
+            ),
+            coordinate: base::texture_coordinate_info(
+                position: state::texture_coordinate(tex_coord_index),
+                tangent_u: state::texture_tangent_u(tex_tangent_index),
+                tangent_v: state::texture_tangent_v(tex_tangent_index)
+            )
+        ),
+        wrap_u: convert_wrap_mode(wrap_s),
+        wrap_v: convert_wrap_mode(wrap_t));
+    tex_ret.valid = true;
+    return tex_ret;
+}
+
+export material gltf_material(
+    // base color
+    uniform color base_color_factor = color(1.0)
+    [[
+        anno::in_group("Metallic Roughness"),
+        anno::display_name("Base Color Factor"),
+        anno::description("The base color of the material. Multiplied to the 'Base Color Texture' if available.")
+    ]],
+
+    gltf_texture_lookup_value base_color_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("Metallic Roughness"),
+        anno::display_name("Base Color Texture"),
+        anno::description("The base color of the material. Influenced by the 'Base Color Factor'.")
+    ]],
+
+    // KHR_materials_specular
+    uniform float specular_factor = 1.0
+    [[
+        anno::hard_range(0.0, 1.0),
+        anno::in_group("Specular"),
+        anno::display_name("Specular Factor"),
+        anno::description("The strength of the specular reflection. Multiplied to the 'Specular Texture' if available.")
+    ]],
+    gltf_texture_lookup_value specular_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("Specular"),
+        anno::display_name("Specular Texture"),
+        anno::description("A texture that defines the strength of the specular reflection, stored in the alpha (A) channel. This will be multiplied by the 'Specular Factor'.")
+    ]],
+    uniform color specular_color_factor = color(1.0)
+    [[
+        anno::in_group("Specular"),
+        anno::display_name("Specular Color Factor"),
+        anno::description("The F0 color of the specular reflection (linear RGB). Multiplied to the 'Specular Color Texture' if available.")
+    ]],
+    gltf_texture_lookup_value specular_color_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("Specular"),
+        anno::display_name("Specular Color Texture"),
+        anno::description("A texture that defines the F0 color of the specular reflection, stored in the RGB channels and encoded in sRGB. This texture will be multiplied by 'Specular Color Factor'.")
+    ]],
+
+    // metallic roughness
+    uniform float metallic_factor = 1.0
+    [[
+        anno::hard_range(0.0, 1.0),
+        anno::in_group("Metallic Roughness"),
+        anno::display_name("Metallic Factor"),
+        anno::description("The metalness of the material. Select between dielectric (0.0) and metallic (1.0). Multiplied to the 'Metal/Rough Texture' value if available.")
+    ]],
+
+    uniform float roughness_factor = 1.0
+    [[
+        anno::hard_range(0.0, 1.0),
+        anno::in_group("Metallic Roughness"),
+        anno::display_name("Roughness Factor"),
+        anno::description("The roughness of the material. Select between very glossy (0.0) and dull (1.0). Multiplied to the 'Metal/Rough Texture' value if available.")
+    ]],
+    gltf_texture_lookup_value metallic_roughness_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("Metallic Roughness"),
+        anno::display_name("Metal/Rough Texture"),
+        anno::description("Metallic in the red or blue component and roughness in the green component. Influenced by the 'Metallic Factor' and 'Roughness Factor'."),
+        anno::enable_if("metallic_factor>0.0 || roughness_factor>0.0")
+    ]],
+
+    // KHR_materials_anisotropy
+    uniform float anisotropy_strength = 0.0
+    [[
+        anno::hard_range(0.0, 1.0),
+        anno::in_group("Anisotropy"),
+        anno::display_name("Anisotropy Strength"),
+        anno::description("The anisotropy strength. When the anisotropy texture is present, this value is multiplied by the texture's blue channel.")
+    ]],
+    uniform float anisotropy_rotation = 0.0
+    [[
+        anno::hard_range(0.0, 2.0 * ::math::PI),
+        anno::in_group("Anisotropy"),
+        anno::display_name("Anisotropy Rotation"),
+        anno::description("The rotation of the anisotropy in tangent, bitangent space, measured in radians counter-clockwise from the tangent. When the anisotropy texture is present, this value provides additional rotation to the vectors in the texture.")
+    ]],
+    gltf_texture_lookup_value anisotropy_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("Anisotropy"),
+        anno::display_name("Anisotropy Texture"),
+        anno::description("The anisotropy texture. Red and green channels represent the anisotropy direction in [− 1, 1] tangent, bitangent space to be rotated by the anisotropy rotation. The blue channel contains strength as [0, 1] to be multiplied by the anisotropy strength.")
+    ]],
+
+    // KHR_materials_ior
+    uniform float ior = 1.5
+    [[
+        anno::hard_range(1.0, 5.0),
+        anno::in_group("Metallic Roughness"),
+        anno::display_name("IOR"),
+        anno::description("The index of refraction.")
+    ]],
+
+    // normal map
+    gltf_normal_texture_lookup_value normal_texture = gltf_normal_texture_lookup()
+    [[
+        anno::in_group("Normal Mapping"),
+        anno::display_name("Normal Texture"),
+        anno::description("Base layer normal map.")
+    ]],
+
+    // KHR_materials_transmission
+    uniform float transmission_factor = 0.0
+    [[
+        anno::hard_range(0.0, 1.0),
+        anno::in_group("Transmission"),
+        anno::display_name("Transmission Factor"),
+        anno::description("The base percentage of light that is transmitted through the surface. Multiplied to the 'Transmission Texture' if available.")
+    ]],
+    gltf_texture_lookup_value transmission_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("Transmission"),
+        anno::display_name("Transmission Texture"),
+        anno::description("A texture that defines the transmission percentage of the surface, stored in the R channel. Influenced by the 'Transmission Factor'."),
+        anno::enable_if("transmission_factor>0")
+    ]],
+
+    // KHR_materials_sheen
+    uniform color sheen_color_factor = color(0.0)
+    [[
+        anno::in_group("Sheen"),
+        anno::display_name("Sheen Color Factor"),
+        anno::description("The sheen color in linear space. Multiplied to the 'Sheen Color Texture' if available.")
+    ]],
+    gltf_texture_lookup_value sheen_color_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("Sheen"),
+        anno::display_name("Sheen Color Texture"),
+        anno::description("The sheen color (RGB). The sheen color is in sRGB transfer function. Influenced by the 'Sheen Color Factor'.")
+    ]],
+    uniform float sheen_roughness_factor = 0.0
+    [[
+        anno::hard_range(0.0, 1.0),
+        anno::in_group("Sheen"),
+        anno::display_name("Sheen Roughness Factor"),
+        anno::description("The sheen roughness. Multiplied to the 'Sheen Roughness Texture' if available.")
+    ]],
+    gltf_texture_lookup_value sheen_roughness_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("Sheen"),
+        anno::display_name("Sheen Roughness Texture"),
+        anno::description("The sheen roughness (Alpha) texture. Influenced by the 'Sheen Roughness Factor'.")
+    ]],
+
+    // KHR_materials_clearcoat
+    uniform float clearcoat_factor = 0.0
+    [[
+        anno::hard_range(0.0, 1.0),
+        anno::in_group("Clearcoat"),
+        anno::display_name("Clearcoat Factor"),
+        anno::description("Strength of the clearcoat. Multiplied to the 'Clearcoat Texture' if available.")
+    ]],
+    gltf_texture_lookup_value clearcoat_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("Clearcoat"),
+        anno::display_name("Clearcoat Texture"),
+        anno::description("Strength of the clearcoat. Influenced by the 'Clearcoat Factor'."),
+        anno::enable_if("clearcoat_factor>0")
+    ]],
+    uniform float clearcoat_roughness_factor = 0.0
+    [[
+        anno::hard_range(0.0, 1.0),
+        anno::in_group("Clearcoat"),
+        anno::display_name("Clearcoat Roughness Factor"),
+        anno::description("The clearcoat layer roughness. Multiplied to the 'Clearcoat Roughness Texture' if available."),
+        anno::enable_if("clearcoat_factor>0.0")
+    ]],
+    gltf_texture_lookup_value clearcoat_roughness_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("Clearcoat"),
+        anno::display_name("Clearcoat Roughness Texture"),
+        anno::description("The clearcoat layer roughness texture. Influenced by the 'Clearcoat Roughness Texture'."),
+        anno::enable_if("clearcoat_factor>0.0 && clearcoat_roughness_factor>0.0")
+    ]],
+    gltf_normal_texture_lookup_value clearcoat_normal_texture = gltf_normal_texture_lookup()
+    [[
+        anno::in_group("Clearcoat"),
+        anno::display_name("Clearcoat Normal"),
+        anno::description("The clearcoat normal map texture."),
+        anno::enable_if("clearcoat_factor>0.0")
+    ]],
+
+    // KHR_materials_iridescence
+    uniform float iridescence_factor = 0.0
+    [[
+        anno::hard_range(0.0, 1.0),
+        anno::in_group("Iridescence"),
+        anno::display_name("Iridescence Factor"),
+        anno::description("Strength of the iridescence. Multiplied to the 'Iridescence Texture' if available.")
+    ]],
+    gltf_texture_lookup_value iridescence_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("Iridescence"),
+        anno::display_name("Iridescence Texture"),
+        anno::description("Strength of the iridescence. Uses only the red channel, assuming linear space. Influenced by the 'Iridescence Factor'."),
+        anno::enable_if("iridescence_factor>0")
+    ]],
+    uniform float iridescence_ior = 1.3
+    [[
+        anno::soft_range(1.0, 5.0),
+        anno::in_group("Iridescence"),
+        anno::display_name("Iridescence IOR"),
+        anno::description("The index of refraction of the dielectric thin-film layer.")
+    ]],
+    uniform float iridescence_thickness_minimum = 100
+    [[
+        anno::soft_range(0.0, 600.0),
+        anno::in_group("Iridescence"),
+        anno::display_name("Iridescence Thickness Minimum"),
+        anno::description("The minimum thickness of the thin-film layer given in nanometers.")
+    ]],
+    uniform float iridescence_thickness_maximum = 400
+    [[
+        anno::soft_range(0.0, 1000.0),
+        anno::in_group("Iridescence"),
+        anno::display_name("Iridescence Thickness Maximum"),
+        anno::description("The maximum thickness of the thin-film layer given in nanometers. Used as thickness if no 'Iridescence Thickness Texture' if available.")
+    ]],
+    gltf_texture_lookup_value iridescence_thickness_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("Iridescence"),
+        anno::display_name("Iridescence Thickness Texture"),
+        anno::description("The thickness texture of the thin-film layer.  Uses only the red channel, assuming linear space. Used to blend between 'Iridescence Thickness Minimum' and 'Iridescence Thickness Maximum'."),
+        anno::enable_if("iridescence_factor>0")
+    ]],
+
+    // emission
+    uniform color emissive_factor = color(0.0)
+    [[
+        anno::in_group("Emission"),
+        anno::display_name("Emissive Factor"),
+        anno::description("The emissive color of the material. Multiplied to the 'Emissive Texture' if available.")
+    ]],
+    gltf_texture_lookup_value emissive_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("Emission"),
+        anno::display_name("Emissive Texture"),
+        anno::description("The emissive map texture. Influenced by the 'Emissive Factor'."),
+        anno::enable_if("::math::average(emissive_factor)>0.0")
+    ]],
+    // KHR_materials_emissive_strength
+    uniform float emissive_strength = 1.0
+    [[
+        anno::soft_range(0.0, 10000),
+        anno::in_group("Emission"),
+        anno::display_name("Emissive Strength"),
+        anno::description("The maximum strength of the emissive texture. Multiplied to the 'Emissive Factor'."),
+        anno::enable_if("::math::average(emissive_factor)>0.0")
+    ]],
+
+    // KHR_materials_volume
+    uniform bool thin_walled = true
+    [[
+        anno::in_group("Volume"),
+        anno::display_name("Thin-walled"),
+        anno::description("If true the material is thin-walled. Otherwise the material is a volume boundary. The doubleSided property has no effect on volume boundaries. Note, the thickness parameters are ignored since ray-tracing is used to compute the traveled distance within the volume.")
+    ]],
+    uniform float attenuation_distance = 0.0
+    [[
+        anno::soft_range(0.0, ::limits::FLOAT_MAX),
+        anno::in_group("Volume"),
+        anno::display_name("Attenuation Distance"),
+        anno::description("Density of the medium given as the average distance that light travels in the medium before interacting with a particle. The value is given in world space. A value 0.0 disables it")
+    ]],
+    uniform color attenuation_color = color(1.0)
+    [[
+        anno::in_group("Volume"),
+        anno::display_name("Attenuation Color"),
+        anno::description("The color that white light turns into due to absorption when reaching the attenuation distance.")
+    ]],
+
+    // ambient occlusion
+    gltf_texture_lookup_value occlusion_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("Occlusion"),
+        anno::display_name("Occlusion Texture"),
+        anno::description("The occlusion map texture. Influenced by the 'Occlusion Strength'.")
+    ]],
+    uniform float occlusion_strength = 1.0
+    [[
+        anno::hard_range(0.0, 1.0),
+        anno::in_group("Occlusion"),
+        anno::display_name("Occlusion Strength"),
+        anno::description("A scalar multiplier controlling the amount of occlusion applied. Multiplied to the 'Occlusion Texture'.")
+    ]],
+
+    // alpha
+    uniform gltf_alpha_mode alpha_mode = opaque
+    [[
+        anno::in_group("Opacity"),
+        anno::display_name("Alpha Mode"),
+        anno::description("Select how to interpret the alpha value.")
+    ]],
+    uniform float base_alpha = 1.0
+    [[
+        anno::hard_range(0.0, 1.0),
+        anno::in_group("Opacity"),
+        anno::display_name("Base Alpha"),
+        anno::description("Select between transparent (0.0) and opaque (1.0). Multiplied to the base color texture alpha channel if available."),
+        anno::enable_if("alpha_mode!=opaque")
+    ]],
+    // alpha for gltf_alpha_mode::mask
+    uniform float alpha_cutoff  = 0.5
+    [[
+        anno::hard_range(0.0, 1.0),
+        anno::in_group("Opacity"),
+        anno::display_name("Alpha Cutoff"),
+        anno::description("Threshold to decide between fully transparent and fully opaque when alpha mode is 'mask'."),
+        anno::enable_if("alpha_mode==mask")
+    ]],
+
+    uniform string vertex_color_name = string("displayColor")
+    [[
+        anno::in_group("Primvar"),
+        anno::display_name("Vertex Color Name"),
+        anno::description("Name of the vertex color primvar usually COLOR_0(gltf), or displayColor(usd)")
+    ]],
+
+    uniform bool use_vertex_color_alpha = false
+    [[
+        anno::in_group("Primvar"),
+        anno::display_name("Use Opacity Channel From Vertex Color"),
+        anno::description("Multipy the Alpha or .w channel from the vertex color with the base alpha value.")
+    ]],
+
+    uniform string vertex_opacity_name = string("displayOpacity")
+    [[
+        anno::in_group("Primvar"),
+        anno::display_name("Vertex Opacity Name"),
+        anno::description("Name of the vertex opacity primvar usually the fourth component of COLOR_0(gltf), or displayOpacity(usd)")
+    ]]
+
+) [[
+    anno::author("NVIDIA Corporation"),
+    anno::display_name("GLTF Material - Metallic-Roughness"),
+    anno::description("Metallic-Roughness Material that takes the GLTF PBR model and KHR extension parameters as input.")
+]] = let {
+
+    // handling GLTF parameters
+    // ------------------------------------------------------------------------
+
+    float4 base_float4 = gltf_prepare_tex_float4(base_color_texture) * ::scene::data_lookup_float4(vertex_color_name, float4(1.0)); // apply vertex color
+    color base_color = base_color_factor * color(base_float4.x, base_float4.y, base_float4.z);
+
+    float alpha = base_alpha * (use_vertex_color_alpha == 1 ? base_float4.w : 1.0) * ((vertex_color_name != vertex_opacity_name) ? ::scene::data_lookup_float(vertex_opacity_name, float(1.0)) : 1.0);
+
+    float3 metallic_roughness = gltf_prepare_tex_float3(metallic_roughness_texture);
+    float metallic = metallic_factor * metallic_roughness.z;
+    float roughness = roughness_factor * metallic_roughness.y;
+
+    float3 normal = gltf_prepare_normal(normal_texture);
+    float occlusion = gltf_prepare_occlusion(occlusion_texture, occlusion_strength);
+    color emissive_color = gltf_perpare_emission(emissive_texture, emissive_factor * math::max(0.0f, emissive_strength));
+
+    // KHR_materials_specular
+    // ------------------------------------------------------------------------
+    color specular_color = color(gltf_prepare_tex_float3(specular_color_texture)) * specular_color_factor;
+    float specular = gltf_prepare_tex_float4(specular_texture).w * specular_factor;
+
+    // KHR_materials_transmission
+    // ------------------------------------------------------------------------
+    float transmission = gltf_prepare_tex_float4(transmission_texture).x * transmission_factor;
+
+    // KHR_materials_sheen
+    // ------------------------------------------------------------------------
+    color sheen_color = color(gltf_prepare_tex_float3(sheen_color_texture)) * sheen_color_factor;
+    float sheen_roughness = gltf_prepare_tex_float4(sheen_roughness_texture).w * sheen_roughness_factor;
+
+    // KHR_materials_clearcoat
+    // ------------------------------------------------------------------------
+    float clearcoat_blend = gltf_prepare_tex_float3(clearcoat_texture).x * clearcoat_factor;
+    float clearcoat_roughness = gltf_prepare_tex_float3(clearcoat_roughness_texture).y * clearcoat_roughness_factor;
+    float clearcoat_roughness2 = clearcoat_roughness * clearcoat_roughness;
+    float3 clearcoat_normal = gltf_prepare_normal(clearcoat_normal_texture);
+    float grazing_refl_coat = math::max((1.0 - clearcoat_roughness), 0.0);
+
+    // KHR_materials_iridescence
+    // ------------------------------------------------------------------------
+    float iridescence_strength = gltf_prepare_tex_float3(iridescence_texture).x * iridescence_factor;
+    float iridescence_thickness = math::lerp(iridescence_thickness_minimum, iridescence_thickness_maximum, gltf_prepare_tex_float3(iridescence_thickness_texture).x);
+
+    // KHR_materials_anisotropy
+    // ------------------------------------------------------------------------
+    float3 anisotropy_tex = gltf_prepare_tex_float3(anisotropy_texture, float3(1.0, 0.5, 1.0));
+    float2 anisotropy_tex_dir = float2(anisotropy_tex.x * 2.0 - 1.0, anisotropy_tex.y * 2.0 - 1.0);
+    float2 anisotropy_rot = float2(math::cos(anisotropy_rotation), math::sin(anisotropy_rotation));
+    float2 anisotropy_dir = float2x2(anisotropy_rot.x, anisotropy_rot.y, -anisotropy_rot.y, anisotropy_rot.x) * math::normalize(anisotropy_tex_dir);
+    float3 anisotropy_tangent_u = state::texture_tangent_u(0) * anisotropy_dir.x + state::texture_tangent_v(0) * anisotropy_dir.y;
+    float anisotropy = anisotropy_strength * anisotropy_tex.z;
+
+    // metallic roughness model
+    // ------------------------------------------------------------------------
+
+    // compute final roughness by squaring the "roughness" parameter
+    float roughness2 = roughness * roughness;
+
+    float anisotropy_roughness_u = math::lerp(roughness2, 1.0, anisotropy * anisotropy);
+    float anisotropy_roughness_v = roughness2;
+
+    // reduce the reflectivity at grazing angles to avoid "dark edges"
+    // for high roughness due to the layering
+    float grazing_refl = math::max((1.0 - roughness), 0.0);
+
+    // fresnel term based on ior
+    float f0 = math::pow((ior - 1.0)/(ior + 1.0), 2.0);
+
+    // for the dielectric component we layer the glossy component on top of the diffuse one,
+    // the glossy layer has no color tint
+    bsdf dielectric_component = df::color_custom_curve_layer(
+        weight: color(1.0), // roughness is used to weight between diffuse and glossy
+        normal_reflectivity: math::min(f0 * specular_color, color(1.0)) * specular,
+        grazing_reflectivity: color(grazing_refl * specular),
+        layer: df::microfacet_ggx_vcavities_bsdf(
+            roughness_u: anisotropy_roughness_u,
+            roughness_v: anisotropy_roughness_v,
+            tangent_u: anisotropy_tangent_u),
+        base: df::weighted_layer(
+            weight: transmission,
+            base: df::diffuse_reflection_bsdf(tint: base_color * occlusion),
+            layer: df::microfacet_ggx_vcavities_bsdf(
+                roughness_u: roughness2,
+                tint: base_color * occlusion,
+                mode: df::scatter_transmit)),
+        normal: normal
+        );
+
+    // apply iridescence and make the strength adjustable using a weighted layer
+    bsdf dielectric_component_with_thin_film = df::weighted_layer(
+        weight: iridescence_strength,
+        base: dielectric_component,
+        layer: df::thin_film(
+            thickness: iridescence_thickness,
+            ior: color(iridescence_ior),
+            base: dielectric_component
+        )
+    );
+
+    // the metallic component doesn't have a diffuse component,
+    // its only glossy base_color is applied to tint it
+    bsdf metallic_component = df::microfacet_ggx_vcavities_bsdf(
+        tint: base_color * occlusion,
+        roughness_u: anisotropy_roughness_u,
+        roughness_v: anisotropy_roughness_v,
+        tangent_u: anisotropy_tangent_u);
+
+    // apply iridescence and make the strength adjustable using a weighted layer
+    // according to KHR_materials_iridescence spec: using dielectric thin film fresnel for metals, too
+    color base_color_sqrt = math::min(math::sqrt(math::saturate(base_color * occlusion)), color(0.99f));
+    color dielectric_ior = (color(1.0f) + base_color_sqrt) / (color(1.0f) - base_color_sqrt);
+    bsdf metallic_component_with_thin_film = df::weighted_layer(
+        weight: iridescence_strength,
+        base: metallic_component,
+        layer: df::thin_film(
+            thickness: iridescence_thickness,
+            ior: color(iridescence_ior),
+            base: df::fresnel_factor(
+                ior: dielectric_ior,
+                extinction_coefficient: color(0.0f),
+                base: df::microfacet_ggx_vcavities_bsdf(roughness_u: roughness2))
+        )
+    );
+
+    // apply sheen to the dielectric component
+    // add the sheen_color as weight in an outer layer to be able to blend and disable on default
+    // otherwise, sheen would be applied and tinted black
+    bsdf dielectric_sheen_component = df::color_weighted_layer(
+        weight: sheen_color,
+        layer: df::sheen_bsdf(
+            roughness: sheen_roughness * sheen_roughness,
+            tint:  color(1.0),
+            multiscatter_tint: color(1.0),
+            multiscatter: dielectric_component // don't apply thin_film
+        ),
+        base: dielectric_component_with_thin_film);
+
+    // final BSDF is a linear blend between dielectric and metallic component
+    bsdf dielectric_metal_mix = df::weighted_layer(
+        weight: metallic,
+        base: dielectric_sheen_component,
+        layer: metallic_component_with_thin_film,
+        normal: normal);
+
+    bsdf clearcoated = df::custom_curve_layer(
+        weight: clearcoat_blend,
+        normal_reflectivity: 0.04,
+        grazing_reflectivity: grazing_refl_coat,
+        layer: df::microfacet_ggx_vcavities_bsdf(
+            mode: df::scatter_reflect,
+            roughness_u: clearcoat_roughness2,
+            tint: color(1.0)),
+        base: df::weighted_layer(
+            weight: 1.0,
+            layer: dielectric_metal_mix,
+            normal: normal),
+        normal: clearcoat_normal);
+
+} in material(
+    thin_walled: thin_walled,
+    surface: material_surface(
+        scattering: clearcoated,
+        emission:  material_emission (
+            emission: df::diffuse_edf(),
+            intensity: emissive_color * ::math::PI
+        )
+    ),
+    volume: material_volume(
+        absorption_coefficient: thin_walled ? color(0.0) : (attenuation_distance == 0) ? color(0.0) : -math::log(attenuation_color) / attenuation_distance
+    ),
+    ior: color(ior),
+    geometry: material_geometry(
+        cutout_opacity: compute_opacity(alpha_mode, alpha, alpha_cutoff)
+    )
+);
+
+
+export material gltf_material_khr_specular_glossiness(
+    // diffuse color
+    uniform color diffuse_factor = color(1.0)
+    [[
+        anno::in_group("PBR Specular Glossiness"),
+        anno::display_name("Diffuse Factor"),
+        anno::description("The diffuse color of the material. Multiplied to the 'Diffuse Texture' if available.")
+    ]],
+    gltf_texture_lookup_value diffuse_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("PBR Specular Glossiness"),
+        anno::display_name("Diffuse Texture"),
+        anno::description("The diffuse color of the material. Influenced by the 'Diffuse Factor'.")
+    ]],
+
+    // specular glossiness
+    uniform color specular_factor = 1.0
+    [[
+        anno::in_group("PBR Specular Glossiness"),
+        anno::display_name("Specular Factor"),
+        anno::description("The specular color of the material. Multiplied to the rgb values of the 'Specular/Glossy Texture' if available.")
+    ]],
+    uniform float glossiness_factor = 1.0
+    [[
+        anno::hard_range(0.0, 1.0),
+        anno::in_group("PBR Specular Glossiness"),
+        anno::display_name("Glossiness Factor"),
+        anno::description("The glossiness of the material. Select between diffuse (0.0) and nearly specular (1.0). Multiplied to the alpha value of the 'Specular/Glossy Texture' if available.")
+    ]],
+    gltf_texture_lookup_value specular_glossiness_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("PBR Specular Glossiness"),
+        anno::display_name("Specular/Glossy Texture"),
+        anno::description("The specular-glossiness texture. Influenced by the 'Specular Factor' and 'Glossiness Factor'.")
+    ]],
+
+    // normal map
+    gltf_normal_texture_lookup_value normal_texture = gltf_normal_texture_lookup()
+    [[
+        anno::in_group("Normal Mapping"),
+        anno::display_name("Normal Texture"),
+        anno::description("Base layer normal map.")
+    ]],
+
+    // emission
+    uniform color emissive_factor = color(0.0)
+    [[
+        anno::in_group("Emission"),
+        anno::display_name("Emissive Factor"),
+        anno::description("The emissive color of the material. Multiplied to the 'Emissive Texture' if available.")
+    ]],
+    gltf_texture_lookup_value emissive_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("Emission"),
+        anno::display_name("Emissive Texture"),
+        anno::description("The emissive map texture. Influenced by the 'Emissive Factor'."),
+        anno::enable_if("::math::average(emissive_factor)>0.0")
+    ]],
+    // KHR_materials_emissive_strength
+    uniform float emissive_strength = 1.0
+    [[
+        anno::soft_range(0.0, 10000),
+        anno::in_group("Emission"),
+        anno::display_name("Emissive Strength"),
+        anno::description("The maximum strength of the emissive texture. Multiplied to the 'Emissive Factor'."),
+        anno::enable_if("::math::average(emissive_factor)>0.0")
+    ]],
+
+    // ambient occlusion
+    gltf_texture_lookup_value occlusion_texture = gltf_texture_lookup()
+    [[
+        anno::in_group("Occlusion"),
+        anno::display_name("Occlusion Texture"),
+        anno::description("The occlusion map texture. Influenced by the 'Occlusion Strength'.")
+    ]],
+    uniform float occlusion_strength = 1.0
+    [[
+        anno::hard_range(0.0, 1.0),
+        anno::in_group("Occlusion"),
+        anno::display_name("Occlusion Strength"),
+        anno::description("A scalar multiplier controlling the amount of occlusion applied. Multiplied to the 'Occlusion Texture'.")
+    ]],
+
+    // alpha
+    uniform gltf_alpha_mode alpha_mode = opaque
+    [[
+        anno::in_group("Opacity"),
+        anno::display_name("Alpha Mode"),
+        anno::description("Select how to interpret the alpha value.")
+    ]],
+    uniform float base_alpha = 1.0
+    [[
+        anno::hard_range(0.0, 1.0),
+        anno::in_group("Opacity"),
+        anno::display_name("Base Alpha"),
+        anno::description("Select between transparent (0.0) and opaque (1.0). Multiplied to the base color texture alpha channel if available."),
+        anno::enable_if("alpha_mode!=opaque")
+    ]],
+
+    // alpha for gltf_alpha_mode::mask
+    uniform float alpha_cutoff = 0.5
+    [[
+        anno::hard_range(0.0, 1.0),
+        anno::in_group("Opacity"),
+        anno::display_name("Alpha Cutoff"),
+        anno::description("Threshold to decide between fully transparent and fully opaque when alpha mode is 'mask'."),
+        anno::enable_if("alpha_mode==mask")
+    ]],
+
+    uniform string vertex_color_name_spec = string("displayColor")
+    [[
+        anno::in_group("Primvar"),
+        anno::display_name("Vertex Color Name"),
+        anno::description("Name of the vertex color primvar usually COLOR_0 'gltf', or displayColor 'usd'.")
+    ]],
+
+    uniform bool use_vertex_color_alpha_spec = false
+    [[
+        anno::in_group("Primvar"),
+        anno::display_name("Use Opacity Channel From Vertex Color"),
+        anno::description("Multiply the Alpha or .w channel from the vertex color with the base alpha value.")
+    ]],
+
+    uniform string vertex_opacity_name_spec = string("displayOpacity")
+    [[
+        anno::in_group("Primvar"),
+        anno::display_name("Vertex Opacity Name"),
+        anno::description("Name of the vertex color primvar usually the .w component of COLOR_0 'gltf', or displayOpacity 'usd'.")
+    ]]
+
+) [[
+    anno::author("NVIDIA Corporation"),
+    anno::display_name("GLTF Material - Specular-Glossiness"),
+    anno::description("Specular-Glossiness Material that takes the GLTF KHR extension parameters as input.")
+]] = let {
+
+    // handling GLTF parameters
+    // ------------------------------------------------------------------------
+    float4 diffuse_float4 = gltf_prepare_tex_float4(diffuse_texture) * ::scene::data_lookup_float4(vertex_color_name_spec, float4(1.0)); // apply vertex color
+    color diffuse = diffuse_factor * color(diffuse_float4.x, diffuse_float4.y, diffuse_float4.z);
+
+    float alpha = base_alpha * (use_vertex_color_alpha_spec == 1 ? diffuse_float4.w : 1.0)  * ((vertex_color_name_spec != vertex_opacity_name_spec) ? ::scene::data_lookup_float(vertex_opacity_name_spec, float(1.0)) : 1.0);
+    //float alpha = base_alpha;
+    float4 specular_glossiness = gltf_prepare_tex_float4(specular_glossiness_texture);
+    color specular = specular_factor * color(specular_glossiness.x, specular_glossiness.y, specular_glossiness.z);
+    float glossiness = glossiness_factor * specular_glossiness.w;
+
+    float3 normal = gltf_prepare_normal(normal_texture);
+    float occlusion = gltf_prepare_occlusion(occlusion_texture, occlusion_strength);
+    color emissive_color = gltf_perpare_emission(emissive_texture, emissive_factor * math::max(0.0f, emissive_strength));
+
+    // specular glossiness model
+    // ------------------------------------------------------------------------
+
+    //color c_diff = diffuse * (1.0 - math::maxvalue(specular));
+    float F_0 = math::max_value(specular);
+    color F_0_tint = F_0==0.0? color(0.0) : (specular/F_0);
+
+    float a = (1.0 - glossiness) * (1.0 - glossiness);
+
+    // diffuse BRDF
+    bsdf diffuse_brdf = df::diffuse_reflection_bsdf(
+        tint: diffuse * occlusion,
+        roughness: 0.0);
+
+    // specular BRDF
+    bsdf specular_brdf = df::microfacet_ggx_smith_bsdf(
+        tint: color(occlusion),
+        roughness_u: a,
+        roughness_v: a,
+        tangent_u: state::texture_tangent_u(0));
+    bsdf tinted_specular =  df::directional_factor(normal_tint: F_0_tint, grazing_tint: color(1.0), exponent: 5.0, base: specular_brdf);
+    //- Custom curve for specular/diffuse angular mix
+    bsdf diffuse_specular_mix = df::custom_curve_layer(
+        normal_reflectivity: F_0,
+        grazing_reflectivity: 1.0,
+        exponent: 5.0,
+        weight: 1.0,
+        layer: tinted_specular,
+        base: diffuse_brdf,
+        normal: normal);
+
+} in material(
+    surface: material_surface(
+        scattering: diffuse_specular_mix,
+        emission:  material_emission (
+            emission: df::diffuse_edf(),
+            intensity: emissive_color * ::math::PI
+        )
+    ),
+    geometry: material_geometry(
+        normal: normal,
+        cutout_opacity: compute_opacity(alpha_mode, alpha, alpha_cutoff)
+    )
+);