Add SimReady package: M20

.gitattributes

@@ -64,3 +64,7 @@ DR02-pro/simready_usd/payloads/flat-mujoco.usdc filter=lfs diff=lfs merge=lfs -t
 DR02-pro/simready_usd/payloads/flat-physics.usdc filter=lfs diff=lfs merge=lfs -text
 DR02-pro/simready_usd/payloads/flat-physx.usdc filter=lfs diff=lfs merge=lfs -text
 M20S/simready_usd/configuration/M20S_base.usd filter=lfs diff=lfs merge=lfs -text
+M20/simready_usd/alternatives/original/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+M20/simready_usd/payloads/flat-mujoco.usdc filter=lfs diff=lfs merge=lfs -text
+M20/simready_usd/payloads/flat-physics.usdc filter=lfs diff=lfs merge=lfs -text
+M20/simready_usd/payloads/flat-physx.usdc filter=lfs diff=lfs merge=lfs -text

M20/.metadata/M20_benchmark.json

@@ -0,0 +1,2204 @@
+{
+  "schema_version": "1.0",
+  "asset": "M20",
+  "run_timestamp": "2026-10-22T13:02:22Z",
+  "passed": false,
+  "results": [
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 17.335,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.68,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 167.5,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.505,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "culling_xz_max_diff": {
+          "value": 8.7e-05,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 1.5e-05,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 135.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 15.144,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.218,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 138.64,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.242,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "culling_xz_max_diff": {
+          "value": 0.000168,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 5e-05,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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": "drive_gain_validation",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 221.328,
+      "message": "",
+      "metrics": {
+        "dgv_joints_tested": {
+          "value": 16,
+          "unit": null
+        },
+        "dgv_passive_joints_skipped": {
+          "value": 0,
+          "unit": null
+        },
+        "dgv_mimic_follower_joints_skipped": {
+          "value": 0,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 51.221,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 228,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 224.65,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 7.358,
+          "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
+        },
+        "dgv_joints_passed": {
+          "value": 7,
+          "unit": null
+        },
+        "dgv_joints_failed": {
+          "value": 9,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "effort_limit",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 364.174,
+      "message": "",
+      "metrics": {
+        "eff_joints_with_candidates": {
+          "value": 16,
+          "unit": null
+        },
+        "eff_joints_skipped_passive": {
+          "value": 0,
+          "unit": null
+        },
+        "eff_joints_skipped_mimic_follower": {
+          "value": 0,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 75.634,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 384,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 196.96,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 12.127,
+          "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
+        },
+        "eff_joints_tested": {
+          "value": 16,
+          "unit": null
+        },
+        "eff_joints_passed": {
+          "value": 16,
+          "unit": null
+        },
+        "eff_joints_failed": {
+          "value": 0,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 42.077,
+      "message": "",
+      "metrics": {
+        "ground_drop_initial_z_min": {
+          "value": 1.0122,
+          "unit": null
+        },
+        "ground_drop_bbox_height": {
+          "value": 0.6748,
+          "unit": null
+        },
+        "ground_drop_effective_fall": {
+          "value": 0.9122,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
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+          "unit": null
+        },
+        "_timing_capture_frame_count": {
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+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 238.7,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
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+          "unit": null
+        },
+        "_timing_encode_video_count": {
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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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+        "ground_drop_touched": {
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+          "unit": null
+        },
+        "ground_drop_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "ground_drop_stable": {
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+          "unit": null
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+        "ground_drop_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_touch_time": {
+          "value": 0.421,
+          "unit": null
+        },
+        "ground_drop_rest_time": {
+          "value": 2.433,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 97.467,
+      "message": "",
+      "metrics": {
+        "ground_drop_initial_z_min": {
+          "value": 0.9892,
+          "unit": null
+        },
+        "ground_drop_bbox_height": {
+          "value": 0.6748,
+          "unit": null
+        },
+        "ground_drop_effective_fall": {
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+          "unit": null
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+        "_timing_capture_frame_total_s": {
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+          "unit": null
+        },
+        "_timing_capture_frame_count": {
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+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 221.5,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.936,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
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+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
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+          "unit": null
+        },
+        "ground_drop_touched": {
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+          "unit": null
+        },
+        "ground_drop_penetrated": {
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+          "unit": null
+        },
+        "ground_drop_stable": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_touch_time": {
+          "value": 0.425,
+          "unit": null
+        },
+        "ground_drop_rest_time": {
+          "value": 4.333,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "joint_movement",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 103.074,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
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+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 45,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 252.37,
+          "unit": null
+        },
+        "_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
+        },
+        "_render_blank_retry_count": {
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+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "jm_joint_fl_hipx_joint_rot_deg": {
+          "value": 35.019,
+          "unit": null
+        },
+        "jm_joint_fl_hipx_joint_trans_pct": {
+          "value": 33.81,
+          "unit": null
+        },
+        "jm_joint_fl_hipx_joint_bbox_m": {
+          "value": 0.1478,
+          "unit": null
+        },
+        "jm_joint_fl_hipx_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_fl_hipy_joint_rot_deg": {
+          "value": 147.995,
+          "unit": null
+        },
+        "jm_joint_fl_hipy_joint_trans_pct": {
+          "value": 150.06,
+          "unit": null
+        },
+        "jm_joint_fl_hipy_joint_bbox_m": {
+          "value": 0.4028,
+          "unit": null
+        },
+        "jm_joint_fl_hipy_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_fl_knee_joint_rot_deg": {
+          "value": 160.944,
+          "unit": null
+        },
+        "jm_joint_fl_knee_joint_trans_pct": {
+          "value": 244.14,
+          "unit": null
+        },
+        "jm_joint_fl_knee_joint_bbox_m": {
+          "value": 0.38,
+          "unit": null
+        },
+        "jm_joint_fl_knee_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_fl_wheel_joint_rot_deg": {
+          "value": 30.0,
+          "unit": null
+        },
+        "jm_joint_fl_wheel_joint_trans_pct": {
+          "value": 147.68,
+          "unit": null
+        },
+        "jm_joint_fl_wheel_joint_bbox_m": {
+          "value": 0.259,
+          "unit": null
+        },
+        "jm_joint_fl_wheel_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_fr_hipx_joint_rot_deg": {
+          "value": 35.035,
+          "unit": null
+        },
+        "jm_joint_fr_hipx_joint_trans_pct": {
+          "value": 33.8,
+          "unit": null
+        },
+        "jm_joint_fr_hipx_joint_bbox_m": {
+          "value": 0.1478,
+          "unit": null
+        },
+        "jm_joint_fr_hipx_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_fr_hipy_joint_rot_deg": {
+          "value": 147.995,
+          "unit": null
+        },
+        "jm_joint_fr_hipy_joint_trans_pct": {
+          "value": 150.05,
+          "unit": null
+        },
+        "jm_joint_fr_hipy_joint_bbox_m": {
+          "value": 0.4029,
+          "unit": null
+        },
+        "jm_joint_fr_hipy_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_fr_knee_joint_rot_deg": {
+          "value": 160.944,
+          "unit": null
+        },
+        "jm_joint_fr_knee_joint_trans_pct": {
+          "value": 244.09,
+          "unit": null
+        },
+        "jm_joint_fr_knee_joint_bbox_m": {
+          "value": 0.38,
+          "unit": null
+        },
+        "jm_joint_fr_knee_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_fr_wheel_joint_rot_deg": {
+          "value": 30.0,
+          "unit": null
+        },
+        "jm_joint_fr_wheel_joint_trans_pct": {
+          "value": 147.69,
+          "unit": null
+        },
+        "jm_joint_fr_wheel_joint_bbox_m": {
+          "value": 0.259,
+          "unit": null
+        },
+        "jm_joint_fr_wheel_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_hl_hipx_joint_rot_deg": {
+          "value": 35.019,
+          "unit": null
+        },
+        "jm_joint_hl_hipx_joint_trans_pct": {
+          "value": 33.82,
+          "unit": null
+        },
+        "jm_joint_hl_hipx_joint_bbox_m": {
+          "value": 0.1478,
+          "unit": null
+        },
+        "jm_joint_hl_hipx_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_hl_hipy_joint_rot_deg": {
+          "value": 147.996,
+          "unit": null
+        },
+        "jm_joint_hl_hipy_joint_trans_pct": {
+          "value": 150.08,
+          "unit": null
+        },
+        "jm_joint_hl_hipy_joint_bbox_m": {
+          "value": 0.4028,
+          "unit": null
+        },
+        "jm_joint_hl_hipy_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_hl_knee_joint_rot_deg": {
+          "value": 160.944,
+          "unit": null
+        },
+        "jm_joint_hl_knee_joint_trans_pct": {
+          "value": 244.17,
+          "unit": null
+        },
+        "jm_joint_hl_knee_joint_bbox_m": {
+          "value": 0.38,
+          "unit": null
+        },
+        "jm_joint_hl_knee_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_hl_wheel_joint_rot_deg": {
+          "value": 30.0,
+          "unit": null
+        },
+        "jm_joint_hl_wheel_joint_trans_pct": {
+          "value": 98.83,
+          "unit": null
+        },
+        "jm_joint_hl_wheel_joint_bbox_m": {
+          "value": 0.2591,
+          "unit": null
+        },
+        "jm_joint_hl_wheel_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_hr_hipx_joint_rot_deg": {
+          "value": 35.035,
+          "unit": null
+        },
+        "jm_joint_hr_hipx_joint_trans_pct": {
+          "value": 33.82,
+          "unit": null
+        },
+        "jm_joint_hr_hipx_joint_bbox_m": {
+          "value": 0.1478,
+          "unit": null
+        },
+        "jm_joint_hr_hipx_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_hr_hipy_joint_rot_deg": {
+          "value": 147.996,
+          "unit": null
+        },
+        "jm_joint_hr_hipy_joint_trans_pct": {
+          "value": 150.08,
+          "unit": null
+        },
+        "jm_joint_hr_hipy_joint_bbox_m": {
+          "value": 0.4028,
+          "unit": null
+        },
+        "jm_joint_hr_hipy_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_hr_knee_joint_rot_deg": {
+          "value": 160.944,
+          "unit": null
+        },
+        "jm_joint_hr_knee_joint_trans_pct": {
+          "value": 244.11,
+          "unit": null
+        },
+        "jm_joint_hr_knee_joint_bbox_m": {
+          "value": 0.38,
+          "unit": null
+        },
+        "jm_joint_hr_knee_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_hr_wheel_joint_rot_deg": {
+          "value": 30.0,
+          "unit": null
+        },
+        "jm_joint_hr_wheel_joint_trans_pct": {
+          "value": 98.73,
+          "unit": null
+        },
+        "jm_joint_hr_wheel_joint_bbox_m": {
+          "value": 0.2591,
+          "unit": null
+        },
+        "jm_joint_hr_wheel_joint_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joints_total": {
+          "value": 16,
+          "unit": null
+        },
+        "jm_joints_passed": {
+          "value": 16,
+          "unit": null
+        },
+        "jm_joints_failed": {
+          "value": 0,
+          "unit": null
+        },
+        "jm_joint_fl_hipx_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_fl_hipy_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_fl_knee_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_fl_wheel_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_fr_hipx_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_fr_hipy_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_fr_knee_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_fr_wheel_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_hl_hipx_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_hl_hipy_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_hl_knee_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_hl_wheel_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_hr_hipx_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_hr_hipy_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_hr_knee_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_hr_wheel_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": 19.329,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.771,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 159.04,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.417,
+          "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": 0.689655,
+          "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": 20,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.726302,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.03186,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 17.33,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.172,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 139.06,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.343,
+          "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": 0.724138,
+          "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": 21,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.727483,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.032302,
+          "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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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": "normals_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 8.517,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.126,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 140.81,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.7,
+          "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": 0.000529,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.001706,
+          "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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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": "normals_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 8.258,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.993,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 124.13,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.557,
+          "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": 0.000543,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.001701,
+          "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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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": "skipped",
+      "passed": false,
+      "duration": 13.946,
+      "message": "Pivot/origin check did not meet the recommended score (score=0.20, recommended >=0.70). Reported as SKIPPED, not a failure: the correct pivot location depends on the object type, so a sub-threshold result is advisory and does not fail FET001. The tilt and spin videos are kept below so the pivot can be judged visually.\nPivot is 87.4% from base (should be <10%).\nX-axis tilt causes ground penetration (min_z=-0.642).\n\nHow to fix:\n- Move the asset pivot to the bottom-center of the bounding box.\n- The pivot should be at Z=0 (ground level) and centered in XY.\n- In your DCC tool, set the pivot/origin to the base of the object.\n- Check the X-tilt and Z-spin videos for visual reference.\n\nWhen this can be ignored: this check validates ground-placeable\nprops. If your object is a rotating/hinged type (e.g., door, robot\njoint), the pivot should be at the rotation center -- not the base;\nthose are validated under FET021/FET022. Attached objects (cameras,\nwheels) should have their pivot at the attachment point.\n\nINTERIM: pivot/origin (VG.025) is treated as advisory and does not\nfail the feature, pending spec clarification on whether VG.025 is a\nmandatory or optional requirement (refer to docs/spec-clarifications-needed.md).",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.029,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 151.46,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.317,
+          "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": 0.2,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 87.4,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 0,
+          "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": 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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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": "skipped",
+      "passed": false,
+      "duration": 12.604,
+      "message": "Pivot/origin check did not meet the recommended score (score=0.20, recommended >=0.70). Reported as SKIPPED, not a failure: the correct pivot location depends on the object type, so a sub-threshold result is advisory and does not fail FET001. The tilt and spin videos are kept below so the pivot can be judged visually.\nPivot is 87.4% from base (should be <10%).\nX-axis tilt causes ground penetration (min_z=-0.642).\n\nHow to fix:\n- Move the asset pivot to the bottom-center of the bounding box.\n- The pivot should be at Z=0 (ground level) and centered in XY.\n- In your DCC tool, set the pivot/origin to the base of the object.\n- Check the X-tilt and Z-spin videos for visual reference.\n\nWhen this can be ignored: this check validates ground-placeable\nprops. If your object is a rotating/hinged type (e.g., door, robot\njoint), the pivot should be at the rotation center -- not the base;\nthose are validated under FET021/FET022. Attached objects (cameras,\nwheels) should have their pivot at the attachment point.\n\nINTERIM: pivot/origin (VG.025) is treated as advisory and does not\nfail the feature, pending spec clarification on whether VG.025 is a\nmandatory or optional requirement (refer to docs/spec-clarifications-needed.md).",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.789,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 139.46,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.254,
+          "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": 0.2,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 87.4,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 0,
+          "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": 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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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": 5.674,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.271,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 135.31,
+          "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": 0.177209,
+          "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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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": 6.413,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.234,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 117.01,
+          "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": 0.177291,
+          "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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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": 3.49,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.892,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 222.92,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_with_universal": {
+          "value": 224,
+          "unit": null
+        },
+        "universal_surface_materials_with_mdl": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_with_mtlx": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_total": {
+          "value": 224,
+          "unit": null
+        },
+        "universal_surface_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "universal_surface_contexts_present": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_render_context_order": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_silhouette_pixels": {
+          "value": 185043,
+          "unit": null
+        },
+        "universal_surface_uncovered_pixels": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_coverage": {
+          "value": 1.0,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "slope_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 62.222,
+      "message": "",
+      "metrics": {
+        "slope_drop_initial_cx": {
+          "value": 0.0,
+          "unit": null
+        },
+        "slope_drop_initial_cy": {
+          "value": -3.2365,
+          "unit": null
+        },
+        "slope_drop_initial_z_min": {
+          "value": 8.9944,
+          "unit": null
+        },
+        "slope_drop_bbox_height": {
+          "value": 0.6748,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 11.321,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 53,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 213.6,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.255,
+          "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": 0.0199,
+          "unit": "m"
+        },
+        "slope_drop_separation_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_left_slope_frame": {
+          "value": 554,
+          "unit": null
+        },
+        "slope_drop_horiz_time": {
+          "value": 0.475,
+          "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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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": "slope_drop",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "fail",
+      "passed": false,
+      "duration": 42.483,
+      "message": "Slope drop FAILED: The asset remained too far from the ramp after contact for 24 consecutive frame(s); peak clearance 0.1406m at frame 444. Review collision contact gaps, restitution, and the video for an upward launch.",
+      "metrics": {
+        "slope_drop_initial_cx": {
+          "value": 0.0,
+          "unit": null
+        },
+        "slope_drop_initial_cy": {
+          "value": -3.2365,
+          "unit": null
+        },
+        "slope_drop_initial_z_min": {
+          "value": 8.9714,
+          "unit": null
+        },
+        "slope_drop_bbox_height": {
+          "value": 0.6748,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 6.134,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 28,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 219.06,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.488,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_contact_detected": {
+          "value": 1,
+          "unit": null
+        },
+        "slope_drop_horiz_detected": {
+          "value": 1,
+          "unit": null
+        },
+        "slope_drop_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_slope_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_excessive_separation": {
+          "value": 1,
+          "unit": null
+        },
+        "slope_drop_uphill_motion": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_passed": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_max_clearance": {
+          "value": 0.1406,
+          "unit": "m"
+        },
+        "slope_drop_separation_frames": {
+          "value": 24,
+          "unit": null
+        },
+        "slope_drop_separation_frame": {
+          "value": 444,
+          "unit": null
+        },
+        "slope_drop_horiz_time": {
+          "value": 0.467,
+          "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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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>/nvidia-submission/simready-tools/.venv-isaac/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'"
+        }
+      ]
+    }
+  ]
+}

M20/.metadata/M20_validation.json

@@ -0,0 +1,238 @@
+{
+    "simready_usd/M20.usd": {
+        "features_summary": {
+            "FET_000_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.005', 'com.nvidia.simready.SR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "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": "0.1.0"
+            },
+            "FET_001_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "1.0.1"
+            },
+            "FET_003_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_003_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_003_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_004_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_004_ROBOT_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_ROBOT_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_006_MDL": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.MDL.003']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_006_OPENPBR": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.PBR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_006_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_010_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.DISP.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_021_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.3.0"
+            },
+            "FET_022_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_022_PHYSX': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_022_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_ROBOT_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_022_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_ROBOT_NEWTON': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_022_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_022_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_023_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_025_ROS": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.ROS.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "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_100_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "optional requirements": "['com.nvidia.simready.ISA.001']",
+                "passed": false,
+                "version": "0.3.0"
+            }
+        },
+        "profile_id": "Robot-Body",
+        "profile_version": "3.0.0",
+        "simready_validate_version": "2026.8.0",
+        "tier_versions": {
+            "sensors": "2026.8.0",
+            "tier_aif": "2026.8.0",
+            "tier_core": "2026.8.0"
+        }
+    }
+}

M20/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-22T13:02:24",
+  "assets": [
+    {
+      "asset": "com.nvidia.simready.packaging.json",
+      "features": [
+        {
+          "FET_030_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_032_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_030_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

M20/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,177 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/M20.usd.png",
+      "size": 588405,
+      "hash": {
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+        "sha256": "98561ef2f01b7968decf867430c13a8a7eae9c50c4c281c14603879a7df15b81"
+      }
+    },
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/M20.usd_light.png",
+      "size": 514209,
+      "hash": {
+        "sha256-flat-1mb": "ca818e564abd0a3f6e62f5338a75f22da18a8f9794c3098035331597ad8067c1",
+        "sha256": "f8498eb8882541d20441e605188d822b603dade5d7423e1ccb13c07bdc086f0d"
+      }
+    },
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/M20.usd_transparent.png",
+      "size": 418265,
+      "hash": {
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+        "sha256": "afcd0381b59a46f58cde98fd3ba736c4dd77429c2dfe8958da736ec81d6a4f41"
+      }
+    },
+    {
+      "relative_path": "simready_usd/M20.usd",
+      "size": 2868,
+      "hash": {
+        "sha256-flat-1mb": "8e898339e2eeb4da6eaea20e3771e1c643fbabe952e9c7ee5470b76ca13726f3",
+        "sha256": "a0a70f365bbec93c762045acff33ed775b287d051a91636f9c8db5ae06fc0f63"
+      }
+    },
+    {
+      "relative_path": "simready_usd/SOURCE_LICENSE.txt",
+      "size": 1502,
+      "hash": {
+        "sha256-flat-1mb": "b9676f32a7def4d4c4d9ec4b7ad54197fcbb63bfdd9c28575d0132abaeb0250f",
+        "sha256": "6bc5967b1cfbdb83b0798942a5f11d4e0555ad8de17697bd4d7eaab6e22f9be5"
+      }
+    },
+    {
+      "relative_path": "simready_usd/alternatives/original/.thumbs/256x256/M20.usd.png",
+      "size": 588405,
+      "hash": {
+        "sha256-flat-1mb": "3f7d71e5d65649a9498571917bb71c9e8a4867d4c28535bbe88cbd292c3750be",
+        "sha256": "98561ef2f01b7968decf867430c13a8a7eae9c50c4c281c14603879a7df15b81"
+      }
+    },
+    {
+      "relative_path": "simready_usd/alternatives/original/.thumbs/256x256/M20.usd_light.png",
+      "size": 514209,
+      "hash": {
+        "sha256-flat-1mb": "ca818e564abd0a3f6e62f5338a75f22da18a8f9794c3098035331597ad8067c1",
+        "sha256": "f8498eb8882541d20441e605188d822b603dade5d7423e1ccb13c07bdc086f0d"
+      }
+    },
+    {
+      "relative_path": "simready_usd/alternatives/original/.thumbs/256x256/M20.usd_transparent.png",
+      "size": 418265,
+      "hash": {
+        "sha256-flat-1mb": "61d9653d1d978602d2f84f7284e3c134d708b9bf7a36d964aeb9f06486c88d85",
+        "sha256": "afcd0381b59a46f58cde98fd3ba736c4dd77429c2dfe8958da736ec81d6a4f41"
+      }
+    },
+    {
+      "relative_path": "simready_usd/alternatives/original/M20.usd",
+      "size": 4280,
+      "hash": {
+        "sha256-flat-1mb": "137beeaa80d2d412ebb3c58bdd0430bede8a8e23377a72212517c302a43d39ca",
+        "sha256": "b496e911d2d1f4eb10cb2a631b7e2ea94316b5cef74667f77afa0028a663819c"
+      }
+    },
+    {
+      "relative_path": "simready_usd/alternatives/original/SOURCE_LICENSE.txt",
+      "size": 1502,
+      "hash": {
+        "sha256-flat-1mb": "b9676f32a7def4d4c4d9ec4b7ad54197fcbb63bfdd9c28575d0132abaeb0250f",
+        "sha256": "6bc5967b1cfbdb83b0798942a5f11d4e0555ad8de17697bd4d7eaab6e22f9be5"
+      }
+    },
+    {
+      "relative_path": "simready_usd/alternatives/original/payloads/Physics/mujoco.usda",
+      "size": 8405,
+      "hash": {
+        "sha256-flat-1mb": "bc8e07e13fb458b41512b26d14e9c45828da07a43ac93c44ae81d08da350d65a",
+        "sha256": "03584c6c8743831729b03d542299cd12a246359139bfe8996b2d3729790d0455"
+      }
+    },
+    {
+      "relative_path": "simready_usd/alternatives/original/payloads/Physics/physics.usda",
+      "size": 30605,
+      "hash": {
+        "sha256-flat-1mb": "9661aa324c18d0c0f84f86e854c148de06130229ee966fba70625d6c31731edd",
+        "sha256": "5b5e080a2265c9c2ae9e1375c6c2041c8bdff5f0e31269c0707cb18aa6f1ce79"
+      }
+    },
+    {
+      "relative_path": "simready_usd/alternatives/original/payloads/Physics/physx.usda",
+      "size": 2141,
+      "hash": {
+        "sha256-flat-1mb": "628e1c7018cce5d0aece62b7771121bf4801f9f0a3e30fc7ee464ef22c5b26fe",
+        "sha256": "6a9094657602ab40ff6faa6afe2b34627c021713b5220caed221992c892b8f4d"
+      }
+    },
+    {
+      "relative_path": "simready_usd/alternatives/original/payloads/base.usda",
+      "size": 179580,
+      "hash": {
+        "sha256-flat-1mb": "05478de9fba9e98ef753abab5b2333cd04812fa0a9a7731c44a42e2e0817a9ce",
+        "sha256": "f9bad551a41e1a6a709ce1a2e1c33d78d22eb5ecd93d622ed0495fb557a70d21"
+      }
+    },
+    {
+      "relative_path": "simready_usd/alternatives/original/payloads/geometries.usd",
+      "size": 9002000,
+      "hash": {
+        "sha256-flat-1mb": "3f06fc11c8fb38a0cf52ad20d5174672a91a6d2225773b945cbc1e55bb4310e3",
+        "sha256": "a89e99fd1eadecc058ac47445fb521b71788022753b8dbf44b427b0ddfcc841b",
+        "sha256-first1m": "5d4fb80d694c0486d0abc35e97b3968f9b1726fbc05942d0203815b4d75b37d4"
+      }
+    },
+    {
+      "relative_path": "simready_usd/alternatives/original/payloads/instances.usda",
+      "size": 160676,
+      "hash": {
+        "sha256-flat-1mb": "7b54f4308d837e6feedf4dde2d3be54279f19d04b6d55ac5a5eeaf82eb60c0f0",
+        "sha256": "2ecd0d2065d3c0d26041e114222e67fca95624c2a7ebf2c90f3271df54aeaad4"
+      }
+    },
+    {
+      "relative_path": "simready_usd/alternatives/original/payloads/materials.usda",
+      "size": 11070,
+      "hash": {
+        "sha256-flat-1mb": "6bedf8c988769ae814bc3aa092447e5c96c6a529662c4c2228a2a35d3d56d7d2",
+        "sha256": "2761247c5c0cb4f6382a7d8542c28f276efe0e6a27f1351c20f66323427d7bd5"
+      }
+    },
+    {
+      "relative_path": "simready_usd/alternatives/original/payloads/robot.usda",
+      "size": 6441,
+      "hash": {
+        "sha256-flat-1mb": "a9fa810a613a8e9e3eacf72ef35b5815ecf5df1f86f33533e43f34221346ae37",
+        "sha256": "1819d842b072c05cfe08354073f9e4f752cd3123a8823368f20184d4eb8d42d3"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/flat-mujoco.usdc",
+      "size": 9069410,
+      "hash": {
+        "sha256-flat-1mb": "e45c109117f1aa13a0880f7a94a7abba900b0785868e2b7ccad219b077f41104",
+        "sha256": "ecc75a4ae8b0bc82e29e9daa077a41e346cd3a1009f3d5673973c1f2ca2f4393",
+        "sha256-first1m": "c4c20abe69eda374dd5a8d186b8f6dbb9965c88181cf6d9c490af90564fee563"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/flat-physics.usdc",
+      "size": 9068464,
+      "hash": {
+        "sha256-flat-1mb": "f0cd8008e1e91330df95d1a9e9488c49262d81480c5a51fce0941858e652c48c",
+        "sha256": "d117a7ac81daa25dd86c5b5813603858ba2f4448cfa2b9ecd3ad2a0bf8717573",
+        "sha256-first1m": "ccf0738ee70cf934e70957ff8ebf3b7e55564bd2098a3b8ba9dba91235adc416"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/flat-physx.usdc",
+      "size": 9068491,
+      "hash": {
+        "sha256-flat-1mb": "0b09e6d25f6a1a6f7b7bd114bcdf3ad8ded6be73f815f6722b281b28b384e508",
+        "sha256": "b942db13c59affc4cd5cce459e373bbfcfa0ac37353335c510eb37687386596c",
+        "sha256-first1m": "d8c3eff66473b69acd690dd4f6b2eea62b0d8c2bd17f10510d4725dd761a26cd"
+      }
+    }
+  ]
+}

M20/com.nvidia.simready.packaging.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.deeproboticslab.simready-assets.M20.2026.10.22_00",
+  "license": "cc-by-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "f2ba917c05c4d8550f556c09980975f56ba2319141c637d16d4ff7538e3c4a3f"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "14e3fdded05c65e7d4283e0175b4c15ad38ffcec3cb97fcbd7e30a2b929c9732"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "8d143e4645ac291bfcead6e0b871937978e2205ae3615db137f5164d83b4923a"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "bc11793ca9b7fce5f6cd0af13fbe56926b4cde2f30dfa58707e7548bb00b7c4a"
+  },
+  "package_hash": {
+    "sha256": "19da8ca1aeec5a10ed2017fa692a6674152abffca4dd9f49c6ba579c292e5d17"
+  }
+}

M20/simready_usd/SOURCE_LICENSE.txt

@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2024, DeepRoboticsLab
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

M20/simready_usd/alternatives/original/SOURCE_LICENSE.txt

@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2024, DeepRoboticsLab
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

M20/simready_usd/alternatives/original/payloads/Physics/mujoco.usda

@@ -0,0 +1,262 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+    }
+    defaultPrim = "M20"
+    endTimeCode = 1000000
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = 0
+    subLayers = [
+        @./physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+over "M20"
+{
+    over "Physics"
+    {
+        over "fl_hipx_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "fl_hipy_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "fl_knee_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "fl_wheel_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "fr_hipx_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "fr_hipy_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "fr_knee_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "fr_wheel_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "hl_hipx_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "hl_hipy_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "hl_knee_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "hl_wheel_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "hr_hipx_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "hr_hipy_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "hr_knee_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "hr_wheel_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        def MjcActuator "fl_hipx_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 76.4000015258789
+            uniform double mjc:forceRange:min = -76.4000015258789
+            custom rel mjc:target
+            append rel mjc:target = </M20/Physics/fl_hipx_joint>
+        }
+
+        def MjcActuator "fl_hipy_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 76.4000015258789
+            uniform double mjc:forceRange:min = -76.4000015258789
+            custom rel mjc:target
+            append rel mjc:target = </M20/Physics/fl_hipy_joint>
+        }
+
+        def MjcActuator "fl_knee_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 76.4000015258789
+            uniform double mjc:forceRange:min = -76.4000015258789
+            custom rel mjc:target
+            append rel mjc:target = </M20/Physics/fl_knee_joint>
+        }
+
+        def MjcActuator "fl_wheel_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 21.600000381469727
+            uniform double mjc:forceRange:min = -21.600000381469727
+            custom rel mjc:target
+            append rel mjc:target = </M20/Physics/fl_wheel_joint>
+        }
+
+        def MjcActuator "fr_hipx_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 76.4000015258789
+            uniform double mjc:forceRange:min = -76.4000015258789
+            custom rel mjc:target
+            append rel mjc:target = </M20/Physics/fr_hipx_joint>
+        }
+
+        def MjcActuator "fr_hipy_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 76.4000015258789
+            uniform double mjc:forceRange:min = -76.4000015258789
+            custom rel mjc:target
+            append rel mjc:target = </M20/Physics/fr_hipy_joint>
+        }
+
+        def MjcActuator "fr_knee_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 76.4000015258789
+            uniform double mjc:forceRange:min = -76.4000015258789
+            custom rel mjc:target
+            append rel mjc:target = </M20/Physics/fr_knee_joint>
+        }
+
+        def MjcActuator "fr_wheel_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 21.600000381469727
+            uniform double mjc:forceRange:min = -21.600000381469727
+            custom rel mjc:target
+            append rel mjc:target = </M20/Physics/fr_wheel_joint>
+        }
+
+        def MjcActuator "hl_hipx_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 76.4000015258789
+            uniform double mjc:forceRange:min = -76.4000015258789
+            custom rel mjc:target
+            append rel mjc:target = </M20/Physics/hl_hipx_joint>
+        }
+
+        def MjcActuator "hl_hipy_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 76.4000015258789
+            uniform double mjc:forceRange:min = -76.4000015258789
+            custom rel mjc:target
+            append rel mjc:target = </M20/Physics/hl_hipy_joint>
+        }
+
+        def MjcActuator "hl_knee_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 76.4000015258789
+            uniform double mjc:forceRange:min = -76.4000015258789
+            custom rel mjc:target
+            append rel mjc:target = </M20/Physics/hl_knee_joint>
+        }
+
+        def MjcActuator "hl_wheel_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 21.600000381469727
+            uniform double mjc:forceRange:min = -21.600000381469727
+            custom rel mjc:target
+            append rel mjc:target = </M20/Physics/hl_wheel_joint>
+        }
+
+        def MjcActuator "hr_hipx_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 76.4000015258789
+            uniform double mjc:forceRange:min = -76.4000015258789
+            custom rel mjc:target
+            append rel mjc:target = </M20/Physics/hr_hipx_joint>
+        }
+
+        def MjcActuator "hr_hipy_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 76.4000015258789
+            uniform double mjc:forceRange:min = -76.4000015258789
+            custom rel mjc:target
+            append rel mjc:target = </M20/Physics/hr_hipy_joint>
+        }
+
+        def MjcActuator "hr_knee_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 76.4000015258789
+            uniform double mjc:forceRange:min = -76.4000015258789
+            custom rel mjc:target
+            append rel mjc:target = </M20/Physics/hr_knee_joint>
+        }
+
+        def MjcActuator "hr_wheel_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 21.600000381469727
+            uniform double mjc:forceRange:min = -21.600000381469727
+            custom rel mjc:target
+            append rel mjc:target = </M20/Physics/hr_wheel_joint>
+        }
+    }
+}
+

M20/simready_usd/alternatives/original/payloads/Physics/physics.usda

@@ -0,0 +1,684 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+    }
+    defaultPrim = "M20"
+    endTimeCode = 1000000
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = 0
+    upAxis = "Z"
+)
+
+over "M20"
+{
+    over "Geometry"
+    {
+        over "base_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI", "NewtonArticulationRootAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+        )
+        {
+            double[] newton:inertia = [0.087919, 0.533522, 0.563492, 0.001396, 0.000111, 0.000519]
+            bool newton:selfCollisionEnabled = 0
+            point3f physics:centerOfMass = (0.0035510587, 0.001650758, -0.0034646215)
+            float3 physics:diagonalInertia = (0.0879146, 0.53351736, 0.563501)
+            float physics:mass = 15.882
+            quatf physics:principalAxes = (0.99996126, -0.008661907, 0.00012855306, -0.0015652068)
+
+            over "fl_hipx" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+            )
+            {
+                double[] newton:inertia = [0.000184, 0.00037, 0.000286, 0.000026, -0.000012, -0.000007]
+                point3f physics:centerOfMass = (-0.011189313, 0.008916935, 0.0004056657)
+                float3 physics:diagonalInertia = (0.00017930871, 0.00028628946, 0.00037440183)
+                float physics:mass = 0.259964
+                quatf physics:principalAxes = (0.7405066, 0.66686815, -0.08203934, -0.014367761)
+
+                over "fl_hipy" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                )
+                {
+                    double[] newton:inertia = [0.040808, 0.039948, 0.004042, -0.000024, -0.000039, -0.006286]
+                    point3f physics:centerOfMass = (-0.0019937477, 0.09843896, -0.13066356)
+                    float3 physics:diagonalInertia = (0.0029732804, 0.04080665, 0.04101807)
+                    float physics:mass = 2.618
+                    quatf physics:principalAxes = (-0.47804052, 0.5215731, 0.5580692, 0.43358675)
+
+                    over "fl_knee" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                    )
+                    {
+                        double[] newton:inertia = [0.011736, 0.011903, 0.001164, -0.000049, 0.000204, -0.001525]
+                        point3f physics:centerOfMass = (0.003419165, 0.0026912421, -0.1812655)
+                        float3 physics:diagonalInertia = (0.000948105, 0.011724502, 0.012130394)
+                        float physics:mass = 1.145
+                        quatf physics:principalAxes = (-0.50899273, 0.48153505, 0.5809133, 0.4142344)
+
+                        over "fl_wheel" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                        )
+                        {
+                            double[] newton:inertia = [0.001535, 0.002853, 0.001535, 0, 0, 0]
+                            point3f physics:centerOfMass = (-3.1139845e-7, 0.0002790015, 5.7032923e-7)
+                            float3 physics:diagonalInertia = (0.001535, 0.001535, 0.002853)
+                            float physics:mass = 0.638
+                            quatf physics:principalAxes = (-0.70710677, 0.70710677, 0, 0)
+
+                            over "cylinder" (
+                                prepend apiSchemas = ["NewtonCollisionAPI"]
+                            )
+                            {
+                            }
+                        }
+
+                        over "box" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "cylinder" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+
+                    over "box" (
+                        prepend apiSchemas = ["NewtonCollisionAPI"]
+                    )
+                    {
+                    }
+
+                    over "cylinder" (
+                        prepend apiSchemas = ["NewtonCollisionAPI"]
+                    )
+                    {
+                    }
+                }
+
+                over "cylinder" (
+                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                )
+                {
+                }
+            }
+
+            over "fr_hipx" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+            )
+            {
+                double[] newton:inertia = [0.000184, 0.00037, 0.000286, -0.000026, -0.000012, 0.000007]
+                point3f physics:centerOfMass = (-0.011090094, -0.008750347, 0.000521421)
+                float3 physics:diagonalInertia = (0.00017930871, 0.00028628946, 0.00037440183)
+                float physics:mass = 0.259964
+                quatf physics:principalAxes = (0.66686815, 0.7405066, 0.014367761, 0.08203934)
+
+                over "fr_hipy" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                )
+                {
+                    double[] newton:inertia = [0.040538, 0.03972, 0.004047, 0.000006, -0.000066, 0.006161]
+                    point3f physics:centerOfMass = (-0.002299919, -0.09897094, -0.13092504)
+                    float3 physics:diagonalInertia = (0.0030128073, 0.040538, 0.04075419)
+                    float physics:mass = 2.618
+                    quatf physics:principalAxes = (0.54553276, -0.45085973, -0.46256268, -0.5339993)
+
+                    over "fr_knee" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                    )
+                    {
+                        double[] newton:inertia = [0.011856, 0.01203, 0.001167, 0.000049, 0.0002, 0.001532]
+                        point3f physics:centerOfMass = (0.0035494547, -0.002478843, -0.18008924)
+                        float3 physics:diagonalInertia = (0.0009517179, 0.01184484, 0.012256443)
+                        float physics:mass = 1.145
+                        quatf physics:principalAxes = (-0.4826421, 0.50821376, 0.41575232, 0.57959074)
+
+                        over "fr_wheel" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                        )
+                        {
+                            double[] newton:inertia = [0.001535, 0.002853, 0.001535, 0, 0, 0]
+                            point3f physics:centerOfMass = (-6.473269e-7, -0.00027901246, -4.6242047e-8)
+                            float3 physics:diagonalInertia = (0.001535, 0.001535, 0.002853)
+                            float physics:mass = 0.638
+                            quatf physics:principalAxes = (-0.70710677, 0.70710677, 0, 0)
+
+                            over "cylinder" (
+                                prepend apiSchemas = ["NewtonCollisionAPI"]
+                            )
+                            {
+                            }
+                        }
+
+                        over "box" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "cylinder" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+
+                    over "box" (
+                        prepend apiSchemas = ["NewtonCollisionAPI"]
+                    )
+                    {
+                    }
+
+                    over "cylinder" (
+                        prepend apiSchemas = ["NewtonCollisionAPI"]
+                    )
+                    {
+                    }
+                }
+
+                over "cylinder" (
+                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                )
+                {
+                }
+            }
+
+            over "hl_hipx" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+            )
+            {
+                double[] newton:inertia = [0.000184, 0.00037, 0.000286, -0.000026, 0.000012, -0.000007]
+                point3f physics:centerOfMass = (0.011090094, 0.008750141, 0.00052488374)
+                float3 physics:diagonalInertia = (0.00017930871, 0.00028628946, 0.00037440183)
+                float physics:mass = 0.259964
+                quatf physics:principalAxes = (0.7405066, 0.66686815, 0.08203934, 0.014367761)
+
+                over "hl_hipy" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                )
+                {
+                    double[] newton:inertia = [0.040625, 0.039791, 0.00404, 0.000031, 0.000011, -0.006194]
+                    point3f physics:centerOfMass = (0.0020434337, 0.099022746, -0.13069727)
+                    float3 physics:diagonalInertia = (0.0029972708, 0.04062112, 0.04083761)
+                    float physics:mass = 2.618
+                    quatf physics:principalAxes = (-0.41924557, 0.5692281, 0.50814086, 0.49194047)
+
+                    over "hl_knee" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                    )
+                    {
+                        double[] newton:inertia = [0.011856, 0.01203, 0.001167, 0.000049, -0.0002, -0.001532]
+                        point3f physics:centerOfMass = (-0.0035494522, 0.0024788463, -0.18008925)
+                        float3 physics:diagonalInertia = (0.0009517179, 0.01184484, 0.012256443)
+                        float physics:mass = 1.145
+                        quatf physics:principalAxes = (-0.41575232, 0.57959074, 0.4826421, 0.50821376)
+
+                        over "hl_wheel" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                        )
+                        {
+                            double[] newton:inertia = [0.001535, 0.002853, 0.001535, 0, 0, 0]
+                            point3f physics:centerOfMass = (-6.078894e-7, 0.0002790091, 2.1048987e-7)
+                            float3 physics:diagonalInertia = (0.001535, 0.001535, 0.002853)
+                            float physics:mass = 0.638
+                            quatf physics:principalAxes = (-0.70710677, 0.70710677, 0, 0)
+
+                            over "cylinder" (
+                                prepend apiSchemas = ["NewtonCollisionAPI"]
+                            )
+                            {
+                            }
+                        }
+
+                        over "box" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "cylinder" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+
+                    over "box" (
+                        prepend apiSchemas = ["NewtonCollisionAPI"]
+                    )
+                    {
+                    }
+
+                    over "cylinder" (
+                        prepend apiSchemas = ["NewtonCollisionAPI"]
+                    )
+                    {
+                    }
+                }
+
+                over "cylinder" (
+                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                )
+                {
+                }
+            }
+
+            over "hr_hipx" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+            )
+            {
+                double[] newton:inertia = [0.000184, 0.00037, 0.000286, 0.000026, 0.000012, 0.000007]
+                point3f physics:centerOfMass = (0.011090156, -0.008750117, 0.00052493694)
+                float3 physics:diagonalInertia = (0.00017930871, 0.00028628946, 0.00037440183)
+                float physics:mass = 0.259964
+                quatf physics:principalAxes = (0.66686815, 0.7405066, -0.014367761, -0.08203934)
+
+                over "hr_hipy" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                )
+                {
+                    double[] newton:inertia = [0.040804, 0.039939, 0.004046, -0.000023, 0.000039, 0.006291]
+                    point3f physics:centerOfMass = (0.0019919968, -0.09837042, -0.13056065)
+                    float3 physics:diagonalInertia = (0.002975262, 0.040802788, 0.04101095)
+                    float physics:mass = 2.618
+                    quatf physics:principalAxes = (0.55733913, -0.4345272, -0.47706583, -0.5224628)
+
+                    over "hr_knee" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                    )
+                    {
+                        double[] newton:inertia = [0.01174, 0.011908, 0.001165, -0.000048, -0.000204, 0.001526]
+                        point3f physics:centerOfMass = (-0.0034105303, -0.0027020185, -0.1812875)
+                        float3 physics:diagonalInertia = (0.000948904, 0.011728918, 0.012135178)
+                        float physics:mass = 1.145
+                        quatf physics:principalAxes = (0.5803439, -0.41503608, -0.50830805, -0.48225406)
+
+                        over "hr_wheel" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                        )
+                        {
+                            double[] newton:inertia = [0.001535, 0.002853, 0.001535, 0, 0, 0]
+                            point3f physics:centerOfMass = (6.097463e-7, -0.00027900885, 2.0131377e-7)
+                            float3 physics:diagonalInertia = (0.001535, 0.001535, 0.002853)
+                            float physics:mass = 0.638
+                            quatf physics:principalAxes = (-0.70710677, 0.70710677, 0, 0)
+
+                            over "cylinder" (
+                                prepend apiSchemas = ["NewtonCollisionAPI"]
+                            )
+                            {
+                            }
+                        }
+
+                        over "box" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "cylinder" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+
+                    over "box" (
+                        prepend apiSchemas = ["NewtonCollisionAPI"]
+                    )
+                    {
+                    }
+
+                    over "cylinder" (
+                        prepend apiSchemas = ["NewtonCollisionAPI"]
+                    )
+                    {
+                    }
+                }
+
+                over "cylinder" (
+                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                )
+                {
+                }
+            }
+
+            over "box" (
+                prepend apiSchemas = ["NewtonCollisionAPI"]
+            )
+            {
+            }
+
+            over "cylinder" (
+                prepend apiSchemas = ["NewtonCollisionAPI"]
+            )
+            {
+            }
+
+            over "cylinder_1" (
+                prepend apiSchemas = ["NewtonCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        def PhysicsRevoluteJoint "fl_hipx_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 76.4
+            float newton:velocityLimit = 1283.4254
+            uniform token physics:axis = "X"
+            custom rel physics:body0
+            append rel physics:body0 = </M20/Geometry/base_link>
+            custom rel physics:body1
+            append rel physics:body1 = </M20/Geometry/base_link/fl_hipx>
+            point3f physics:localPos0 = (0.3141, 0.0685, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, 0, -1, 0)
+            quatf physics:localRot1 = (0, 0, -1, 0)
+            float physics:lowerLimit = -24.980959
+            float physics:upperLimit = 35.00772
+            custom float urdf:limit:effort = 76.4
+        }
+
+        def PhysicsRevoluteJoint "fl_hipy_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 76.4
+            float newton:velocityLimit = 1283.4254
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </M20/Geometry/base_link/fl_hipx>
+            custom rel physics:body1
+            append rel physics:body1 = </M20/Geometry/base_link/fl_hipx/fl_hipy>
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = -130.97815
+            float physics:upperLimit = 147.995
+            custom float urdf:limit:effort = 76.4
+        }
+
+        def PhysicsRevoluteJoint "fl_knee_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 76.4
+            float newton:velocityLimit = 1283.4254
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </M20/Geometry/base_link/fl_hipx/fl_hipy>
+            custom rel physics:body1
+            append rel physics:body1 = </M20/Geometry/base_link/fl_hipx/fl_hipy/fl_knee>
+            point3f physics:localPos0 = (0, 0.0984, -0.25)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = -160.94385
+            float physics:upperLimit = 159.96982
+            custom float urdf:limit:effort = 76.4
+        }
+
+        def PhysicsRevoluteJoint "fl_wheel_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 21.6
+            float newton:velocityLimit = 4543.555
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </M20/Geometry/base_link/fl_hipx/fl_hipy/fl_knee>
+            custom rel physics:body1
+            append rel physics:body1 = </M20/Geometry/base_link/fl_hipx/fl_hipy/fl_knee/fl_wheel>
+            point3f physics:localPos0 = (0, 0.059676, -0.25)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            custom float urdf:limit:effort = 21.6
+        }
+
+        def PhysicsRevoluteJoint "fr_hipx_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 76.4
+            float newton:velocityLimit = 1283.4254
+            uniform token physics:axis = "X"
+            custom rel physics:body0
+            append rel physics:body0 = </M20/Geometry/base_link>
+            custom rel physics:body1
+            append rel physics:body1 = </M20/Geometry/base_link/fr_hipx>
+            point3f physics:localPos0 = (0.3141, -0.0685, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, 0, -1, 0)
+            quatf physics:localRot1 = (0, 0, -1, 0)
+            float physics:lowerLimit = -35.00772
+            float physics:upperLimit = 24.980959
+            custom float urdf:limit:effort = 76.4
+        }
+
+        def PhysicsRevoluteJoint "fr_hipy_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 76.4
+            float newton:velocityLimit = 1283.4254
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </M20/Geometry/base_link/fr_hipx>
+            custom rel physics:body1
+            append rel physics:body1 = </M20/Geometry/base_link/fr_hipx/fr_hipy>
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = -130.97815
+            float physics:upperLimit = 147.995
+            custom float urdf:limit:effort = 76.4
+        }
+
+        def PhysicsRevoluteJoint "fr_knee_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 76.4
+            float newton:velocityLimit = 1283.4254
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </M20/Geometry/base_link/fr_hipx/fr_hipy>
+            custom rel physics:body1
+            append rel physics:body1 = </M20/Geometry/base_link/fr_hipx/fr_hipy/fr_knee>
+            point3f physics:localPos0 = (0, -0.0984, -0.25)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = -160.94385
+            float physics:upperLimit = 159.96982
+            custom float urdf:limit:effort = 76.4
+        }
+
+        def PhysicsRevoluteJoint "fr_wheel_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 21.6
+            float newton:velocityLimit = 4543.555
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </M20/Geometry/base_link/fr_hipx/fr_hipy/fr_knee>
+            custom rel physics:body1
+            append rel physics:body1 = </M20/Geometry/base_link/fr_hipx/fr_hipy/fr_knee/fr_wheel>
+            point3f physics:localPos0 = (0, -0.059676, -0.25)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            custom float urdf:limit:effort = 21.6
+        }
+
+        def PhysicsRevoluteJoint "hl_hipx_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 76.4
+            float newton:velocityLimit = 1283.4254
+            uniform token physics:axis = "X"
+            custom rel physics:body0
+            append rel physics:body0 = </M20/Geometry/base_link>
+            custom rel physics:body1
+            append rel physics:body1 = </M20/Geometry/base_link/hl_hipx>
+            point3f physics:localPos0 = (-0.3141, 0.0685, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, 0, -1, 0)
+            quatf physics:localRot1 = (0, 0, -1, 0)
+            float physics:lowerLimit = -24.980959
+            float physics:upperLimit = 35.00772
+            custom float urdf:limit:effort = 76.4
+        }
+
+        def PhysicsRevoluteJoint "hl_hipy_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 76.4
+            float newton:velocityLimit = 1283.4254
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </M20/Geometry/base_link/hl_hipx>
+            custom rel physics:body1
+            append rel physics:body1 = </M20/Geometry/base_link/hl_hipx/hl_hipy>
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = -147.995
+            float physics:upperLimit = 130.97815
+            custom float urdf:limit:effort = 76.4
+        }
+
+        def PhysicsRevoluteJoint "hl_knee_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 76.4
+            float newton:velocityLimit = 1283.4254
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </M20/Geometry/base_link/hl_hipx/hl_hipy>
+            custom rel physics:body1
+            append rel physics:body1 = </M20/Geometry/base_link/hl_hipx/hl_hipy/hl_knee>
+            point3f physics:localPos0 = (0, 0.0984, -0.25)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = -159.96982
+            float physics:upperLimit = 160.94385
+            custom float urdf:limit:effort = 76.4
+        }
+
+        def PhysicsRevoluteJoint "hl_wheel_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 21.6
+            float newton:velocityLimit = 4543.555
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </M20/Geometry/base_link/hl_hipx/hl_hipy/hl_knee>
+            custom rel physics:body1
+            append rel physics:body1 = </M20/Geometry/base_link/hl_hipx/hl_hipy/hl_knee/hl_wheel>
+            point3f physics:localPos0 = (0, 0.059676, -0.25)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            custom float urdf:limit:effort = 21.6
+        }
+
+        def PhysicsRevoluteJoint "hr_hipx_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 76.4
+            float newton:velocityLimit = 1283.4254
+            uniform token physics:axis = "X"
+            custom rel physics:body0
+            append rel physics:body0 = </M20/Geometry/base_link>
+            custom rel physics:body1
+            append rel physics:body1 = </M20/Geometry/base_link/hr_hipx>
+            point3f physics:localPos0 = (-0.3141, -0.0685, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, 0, -1, 0)
+            quatf physics:localRot1 = (0, 0, -1, 0)
+            float physics:lowerLimit = -35.00772
+            float physics:upperLimit = 24.980959
+            custom float urdf:limit:effort = 76.4
+        }
+
+        def PhysicsRevoluteJoint "hr_hipy_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 76.4
+            float newton:velocityLimit = 1283.4254
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </M20/Geometry/base_link/hr_hipx>
+            custom rel physics:body1
+            append rel physics:body1 = </M20/Geometry/base_link/hr_hipx/hr_hipy>
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = -147.995
+            float physics:upperLimit = 130.97815
+            custom float urdf:limit:effort = 76.4
+        }
+
+        def PhysicsRevoluteJoint "hr_knee_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 76.4
+            float newton:velocityLimit = 1283.4254
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </M20/Geometry/base_link/hr_hipx/hr_hipy>
+            custom rel physics:body1
+            append rel physics:body1 = </M20/Geometry/base_link/hr_hipx/hr_hipy/hr_knee>
+            point3f physics:localPos0 = (0, -0.0984, -0.25)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = -159.96982
+            float physics:upperLimit = 160.94385
+            custom float urdf:limit:effort = 76.4
+        }
+
+        def PhysicsRevoluteJoint "hr_wheel_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 21.6
+            float newton:velocityLimit = 4543.555
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </M20/Geometry/base_link/hr_hipx/hr_hipy/hr_knee>
+            custom rel physics:body1
+            append rel physics:body1 = </M20/Geometry/base_link/hr_hipx/hr_hipy/hr_knee/hr_wheel>
+            point3f physics:localPos0 = (0, -0.059676, -0.25)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            custom float urdf:limit:effort = 21.6
+        }
+    }
+}
+

M20/simready_usd/alternatives/original/payloads/Physics/physx.usda

@@ -0,0 +1,118 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+    }
+    defaultPrim = "M20"
+    endTimeCode = 1000000
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = 0
+    subLayers = [
+        @./physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+over "M20"
+{
+    over "Physics"
+    {
+        over "fl_hipx_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "fl_hipy_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "fl_knee_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "fl_wheel_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "fr_hipx_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "fr_hipy_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "fr_knee_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "fr_wheel_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "hl_hipx_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "hl_hipy_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "hl_knee_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "hl_wheel_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "hr_hipx_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "hr_hipy_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "hr_knee_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "hr_wheel_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+    }
+}
+

M20/simready_usd/alternatives/original/payloads/geometries.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a89e99fd1eadecc058ac47445fb521b71788022753b8dbf44b427b0ddfcc841b
+size 9002000

M20/simready_usd/alternatives/original/payloads/materials.usda

@@ -0,0 +1,246 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+    }
+    endTimeCode = 1000000
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = 0
+    upAxis = "Z"
+)
+
+def Scope "Materials"
+{
+    def Material "tn__a6aa3b8195e64d1c9b5629544fa71ec8_al0DIN"
+    {
+        color3f inputs:diffuseColor = (0, 0, 0)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/tn__a6aa3b8195e64d1c9b5629544fa71ec8_al0DIN/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__a6aa3b8195e64d1c9b5629544fa71ec8_al0DIN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__a6aa3b8195e64d1c9b5629544fa71ec8_al0DIN.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__a6aa3b8195e64d1c9b5629544fa71ec8_al0DIN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__a6aa3b8195e64d1c9b5629544fa71ec8_al0DIN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__a6aa3b8195e64d1c9b5629544fa71ec8_al0DIN.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__f3e75a6658d5483886e1013c4ab2c181_al0DIN"
+    {
+        color3f inputs:diffuseColor = (0.078187466, 0.1094618, 0.14702739)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/tn__f3e75a6658d5483886e1013c4ab2c181_al0DIN/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__f3e75a6658d5483886e1013c4ab2c181_al0DIN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__f3e75a6658d5483886e1013c4ab2c181_al0DIN.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__f3e75a6658d5483886e1013c4ab2c181_al0DIN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__f3e75a6658d5483886e1013c4ab2c181_al0DIN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__f3e75a6658d5483886e1013c4ab2c181_al0DIN.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__a07624b1a4be4d6b9e9c3a8ae1f2a7bf_al0DIN"
+    {
+        color3f inputs:diffuseColor = (0.046665203, 0.06847814, 0.09305903)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/tn__a07624b1a4be4d6b9e9c3a8ae1f2a7bf_al0DIN/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__a07624b1a4be4d6b9e9c3a8ae1f2a7bf_al0DIN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__a07624b1a4be4d6b9e9c3a8ae1f2a7bf_al0DIN.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__a07624b1a4be4d6b9e9c3a8ae1f2a7bf_al0DIN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__a07624b1a4be4d6b9e9c3a8ae1f2a7bf_al0DIN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__a07624b1a4be4d6b9e9c3a8ae1f2a7bf_al0DIN.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__a2a939124233441a9048ece67ba4735c_al0DIN"
+    {
+        color3f inputs:diffuseColor = (0.70110214, 0.6938711, 0.7454036)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/tn__a2a939124233441a9048ece67ba4735c_al0DIN/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__a2a939124233441a9048ece67ba4735c_al0DIN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__a2a939124233441a9048ece67ba4735c_al0DIN.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__a2a939124233441a9048ece67ba4735c_al0DIN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__a2a939124233441a9048ece67ba4735c_al0DIN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__a2a939124233441a9048ece67ba4735c_al0DIN.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__a952f77fec6c438d9dac665b4f670f9a_al0DIN"
+    {
+        color3f inputs:diffuseColor = (1, 0, 0)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/tn__a952f77fec6c438d9dac665b4f670f9a_al0DIN/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__a952f77fec6c438d9dac665b4f670f9a_al0DIN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__a952f77fec6c438d9dac665b4f670f9a_al0DIN.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__a952f77fec6c438d9dac665b4f670f9a_al0DIN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__a952f77fec6c438d9dac665b4f670f9a_al0DIN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__a952f77fec6c438d9dac665b4f670f9a_al0DIN.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__aeec7dc1fff540199bcec62a77776e9b_al0DIN"
+    {
+        color3f inputs:diffuseColor = (1, 1, 1)
+        float inputs:metallic = 0
+        float inputs:opacity = 0.61
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/tn__aeec7dc1fff540199bcec62a77776e9b_al0DIN/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__aeec7dc1fff540199bcec62a77776e9b_al0DIN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__aeec7dc1fff540199bcec62a77776e9b_al0DIN.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__aeec7dc1fff540199bcec62a77776e9b_al0DIN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__aeec7dc1fff540199bcec62a77776e9b_al0DIN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__aeec7dc1fff540199bcec62a77776e9b_al0DIN.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__a0000000000000000000000000000000_al0DIN"
+    {
+        color3f inputs:diffuseColor = (0.95597297, 0.95597297, 0.95597297)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/tn__a0000000000000000000000000000000_al0DIN/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__a0000000000000000000000000000000_al0DIN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__a0000000000000000000000000000000_al0DIN.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__a0000000000000000000000000000000_al0DIN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__a0000000000000000000000000000000_al0DIN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__a0000000000000000000000000000000_al0DIN.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+}
+

M20/simready_usd/alternatives/original/payloads/robot.usda

@@ -0,0 +1,248 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+    }
+    defaultPrim = "M20"
+    endTimeCode = 1000000
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = 0
+    upAxis = "Z"
+)
+
+over "M20" (
+    prepend apiSchemas = ["IsaacRobotAPI"]
+)
+{
+    prepend rel isaac:physics:robotJoints = [
+        </M20/Physics/fl_hipx_joint>,
+        </M20/Physics/fr_hipx_joint>,
+        </M20/Physics/hl_hipx_joint>,
+        </M20/Physics/hr_hipx_joint>,
+        </M20/Physics/fl_hipy_joint>,
+        </M20/Physics/fl_knee_joint>,
+        </M20/Physics/fl_wheel_joint>,
+        </M20/Physics/fr_hipy_joint>,
+        </M20/Physics/fr_knee_joint>,
+        </M20/Physics/fr_wheel_joint>,
+        </M20/Physics/hl_hipy_joint>,
+        </M20/Physics/hl_knee_joint>,
+        </M20/Physics/hl_wheel_joint>,
+        </M20/Physics/hr_hipy_joint>,
+        </M20/Physics/hr_knee_joint>,
+        </M20/Physics/hr_wheel_joint>,
+    ]
+    prepend rel isaac:physics:robotLinks = [
+        </M20/Geometry/base_link>,
+        </M20/Geometry/base_link/fl_hipx>,
+        </M20/Geometry/base_link/fl_hipx/fl_hipy>,
+        </M20/Geometry/base_link/fl_hipx/fl_hipy/fl_knee>,
+        </M20/Geometry/base_link/fl_hipx/fl_hipy/fl_knee/fl_wheel>,
+        </M20/Geometry/base_link/fr_hipx>,
+        </M20/Geometry/base_link/fr_hipx/fr_hipy>,
+        </M20/Geometry/base_link/fr_hipx/fr_hipy/fr_knee>,
+        </M20/Geometry/base_link/fr_hipx/fr_hipy/fr_knee/fr_wheel>,
+        </M20/Geometry/base_link/hl_hipx>,
+        </M20/Geometry/base_link/hl_hipx/hl_hipy>,
+        </M20/Geometry/base_link/hl_hipx/hl_hipy/hl_knee>,
+        </M20/Geometry/base_link/hl_hipx/hl_hipy/hl_knee/hl_wheel>,
+        </M20/Geometry/base_link/hr_hipx>,
+        </M20/Geometry/base_link/hr_hipx/hr_hipy>,
+        </M20/Geometry/base_link/hr_hipx/hr_hipy/hr_knee>,
+        </M20/Geometry/base_link/hr_hipx/hr_hipy/hr_knee/hr_wheel>,
+    ]
+    token isaac:robotType = "Quadruped"
+
+    over "Geometry"
+    {
+        over "base_link" (
+            prepend apiSchemas = ["IsaacLinkAPI"]
+        )
+        {
+            over "fl_hipx" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "fl_hipy" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "fl_knee" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                        over "fl_wheel" (
+                            prepend apiSchemas = ["IsaacLinkAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+
+            over "fr_hipx" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "fr_hipy" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "fr_knee" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                        over "fr_wheel" (
+                            prepend apiSchemas = ["IsaacLinkAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+
+            over "hl_hipx" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "hl_hipy" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "hl_knee" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                        over "hl_wheel" (
+                            prepend apiSchemas = ["IsaacLinkAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+
+            over "hr_hipx" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "hr_hipy" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "hr_knee" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                        over "hr_wheel" (
+                            prepend apiSchemas = ["IsaacLinkAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        over "fl_hipx_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "fl_hipy_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "fl_knee_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "fl_wheel_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "fr_hipx_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "fr_hipy_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "fr_knee_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "fr_wheel_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "hl_hipx_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "hl_hipy_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "hl_knee_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "hl_wheel_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "hr_hipx_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "hr_hipy_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "hr_knee_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "hr_wheel_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+    }
+}
+

M20/simready_usd/payloads/flat-mujoco.usdc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecc75a4ae8b0bc82e29e9daa077a41e346cd3a1009f3d5673973c1f2ca2f4393
+size 9069410

M20/simready_usd/payloads/flat-physics.usdc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d117a7ac81daa25dd86c5b5813603858ba2f4448cfa2b9ecd3ad2a0bf8717573
+size 9068464

M20/simready_usd/payloads/flat-physx.usdc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b942db13c59affc4cd5cce459e373bbfcfa0ac37353335c510eb37687386596c
+size 9068491