Add Robot-Body packages: robotstudio_sysid_so101_new_calib, robotstudio_so100, robotstudio_so101_new_calib, techman_tm12, ufactory_lite6, ufactory_uf850, ufactory_xarm6, ufactory_xarm7, unitree_z1

.gitattributes

@@ -202,3 +202,19 @@ mecademic_meca500/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
 openarm_openarm_bimanual/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
 openarm_openarm_unimanual/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
 rethinkrobotics_sawyer_sawyer_instanceable/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+robotstudio_sysid_so101_new_calib/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+robotstudio_sysid_so101_new_calib/payloads/so101-camera_mount/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+robotstudio_so100/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+robotstudio_so100/payloads/so101-camera_mount/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+robotstudio_so101_new_calib/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+robotstudio_so101_new_calib/payloads/so101-camera_mount/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+techman_tm12/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+ufactory_lite6/payloads/Variant_Set/dependencies/uf_lite_gripper_base.usd filter=lfs diff=lfs merge=lfs -text
+ufactory_lite6/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+ufactory_uf850/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+ufactory_uf850/payloads/gripper/dependencies/xarm_gripper_base.usd filter=lfs diff=lfs merge=lfs -text
+ufactory_xarm6/payloads/Variant_Set/dependencies/xarm_gripper_base.usd filter=lfs diff=lfs merge=lfs -text
+ufactory_xarm6/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+ufactory_xarm7/payloads/Variant_Set/dependencies/xarm_gripper_base.usd filter=lfs diff=lfs merge=lfs -text
+ufactory_xarm7/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+unitree_z1/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text

robotstudio_so100/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json

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+      ]
+    }
+  ]
+}

robotstudio_so100/.metadata/com.nvidia.simready.packaging.bom.json

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robotstudio_so100/.metadata/com.nvidia.simready.root_usds.json

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+{
+  "format_version": "1.0",
+  "entries": [
+    "so100.usda"
+  ]
+}

robotstudio_so100/.metadata/license.txt

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
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+      direction or management of such entity, whether by contract or
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+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
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+
+      "Object" form shall mean any form resulting from mechanical
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+
+      "Work" shall mean the work of authorship, whether in Source or
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+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
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+      the Work and Derivative Works thereof.
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+      "Contribution" shall mean any work of authorship, including
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robotstudio_so100/.simready/validation.json

@@ -0,0 +1,223 @@
+{
+  "SimReady_Metadata": {
+    "validation": {
+      "profile": "Robot-Body",
+      "profile_version": "3.0.0",
+      "validated_features": {
+        "2026-10-20": {
+          "CAP000_Core.Isaac.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP000_Core.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP000_Core.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP000_Core.OpenUSD.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP000_Core.PhysX.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP003_RigidBody.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP004_Multibody.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP004_Multibody.RobotMuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP021_RobotCore.Isaac.0-3-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-3-0"
+          },
+          "CAP022_DrivenJoints.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP023_RobotMaterials.Isaac.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP024_BaseArticulation.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP024_BaseArticulation.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP024_BaseArticulation.OpenUSD.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP024_BaseArticulation.PhysX.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP025_RosBridge.Ros.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "optional requirements": "['com.nvidia.simready.ROS.001']",
+            "passed": false,
+            "version": "0-1-0"
+          },
+          "CAP031_SelfContainedPackage.OpenUSD.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP033_SimReadyPackage.OpenUSD.0-4-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-4-0"
+          },
+          "CAP100_IsaacComposition.Isaac.0-3-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-3-0"
+          },
+          "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "1-0-1"
+          },
+          "FET003_RigidBody.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET003_RigidBody.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET003_RigidBody.PhysX.0-4-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-4-0"
+          },
+          "FET004_Multibody.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET003_RigidBody.Newton.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET004_Multibody.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET004_Multibody.PhysX.0-4-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET003_RigidBody.PhysX.0-4-0']",
+            "passed": true,
+            "version": "0-4-0"
+          },
+          "FET004_Multibody.RobotNewton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET006_Materials.MDL.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET006_Materials.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET006_Materials.Openpbr.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET010_DisplayColor.OpenUSD.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET022_DrivenJoints.Isaac.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET022_DrivenJoints.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET022_DrivenJoints.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET022_DrivenJoints.PhysX.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET004_Multibody.PhysX.0-4-0']",
+            "passed": true,
+            "version": "0-2-0"
+          }
+        }
+      }
+    }
+  }
+}

robotstudio_so100/.thumbs/256x256/.so100.usda.last_generated

@@ -0,0 +1 @@
+2026-08-11 03:40:50

robotstudio_so100/com.nvidia.simready.packaging.json

@@ -0,0 +1,37 @@
+{
+  "format_version": "1.0",
+  "package_id": "robotstudio_so100.1.0.0",
+  "license": "Apache-2.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "d122412a98635daeabb631b59c99ff6552a299fdcca93319c47a30b40103d312"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "80fd5cb2a7c005f4681c884fdfae85e23128218403f0300c5bc816d81f1125bd"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "9465a212294fe66ac0aaef865a6b785344192ba071d55375c90f1627d906607d"
+      }
+    },
+    {
+      "name": "license.txt",
+      "hash": {
+        "sha256": "c71d239df91726fc519c6eb72d318ec65820627232b2f796219e87dcf35d0ab4"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "3f195f824f65af6431ac7de11e686138290d039587ed8b1f832cfea2692e0541"
+  },
+  "package_hash": {
+    "sha256": "8b8809cc9606fa7cd7545d6add2617d11491ac3c234b59e8396961f5eab3dc00"
+  }
+}

robotstudio_so100/materials/mdl/LICENSE.md

@@ -0,0 +1,73 @@
+# NVIDIA Omniverse Core Materials Licenses
+
+## Primary License
+This project is primarily licensed under the BSD-3-Clause License.
+
+```
+Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+
+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.
+```
+
+## Third-Party Licenses
+
+### Apache License 2.0
+The following components are licensed under the Apache License 2.0:
+
+#### MaterialX Components
+Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project:
+https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE
+
+```
+Copyright Contributors to the MaterialX Project
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+```
+
+## SPDX License Identifiers
+Files in this project use the following SPDX license identifiers:
+- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code
+- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components
+
+## License Attribution
+This project contains code from multiple sources:
+1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase
+2. Academy Software Foundation (Apache-2.0) - MaterialX components
+
+## License Scope
+- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise
+- Files in `/source/mdl/materialx` are licensed under Apache-2.0
+- All other files are licensed under BSD-3-Clause 

robotstudio_so100/materials/mdl/OmniPBR.mdl

@@ -0,0 +1,396 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+mdl 1.7;
+
+import ::df::*;
+import ::state::*;
+import ::math::*;
+import ::base::*;
+import ::state::*;
+import ::tex::*;
+import ::anno::*;
+
+import ::debug::*;
+
+import core_definitions::file_texture;
+import core_definitions::normalmap_texture;
+
+import OmniPBR_ClearCoat::*;
+
+
+//  OmniPBR  //
+
+export material OmniPBR(
+
+    //  Albdeo  //
+
+	color diffuse_color_constant = color(0.2) [[
+		anno::display_name("Albedo Color"),
+		anno::description("This is the albedo base color"),
+		anno::in_group("Albedo")
+	]],
+	uniform texture_2d diffuse_texture = texture_2d() [[
+		anno::display_name("Albedo Map"),
+		anno::in_group("Albedo")
+	]],
+	float albedo_desaturation = float(0.0) [[
+		anno::display_name("Albedo Map Desaturation"),
+		anno::description("Desaturates the albedo map"),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	float albedo_add = float(0.0) [[
+		anno::display_name("Albedo Add"),
+		anno::description("Adds a constant value to the diffuse color "),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(-1.0), float(1.0))
+	]],	
+	float albedo_brightness = float(1.0) [[
+		anno::display_name("Albedo Brightness"),
+		anno::description("Multiplier for the diffuse color "),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],	
+	color diffuse_tint = color(1.0) [[
+		anno::display_name("Color Tint"),
+		anno::description("When enabled, this color value is multiplied over the final albedo color"),
+		anno::in_group("Albedo")
+	]],
+	
+
+	//  Reflectivity //
+	
+	float reflection_roughness_constant = float(0.5) [[
+		anno::display_name("Roughness Amount"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	float reflection_roughness_texture_influence = float(0.0) [[
+		anno::display_name("Roughness Map Influence"),
+		anno::description("Blends between the constant value and the lookup of the roughness texture"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d reflectionroughness_texture = texture_2d() [[
+		anno::display_name("Roughness Map"),
+		anno::in_group("Reflectivity"),
+		anno::usage("roughness")
+	]],
+	float metallic_constant = float(0.0) [[
+		anno::display_name("Metallic Amount"),
+		anno::description("Metallic Material"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],	
+	float metallic_texture_influence = float(0.0) [[
+		anno::display_name("Metallic Map Influence"),
+		anno::description("Blends between the constant value and the lookup of the metallic texture"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d metallic_texture = texture_2d() [[
+		anno::display_name("Metallic Map"),
+		anno::in_group("Reflectivity"),
+		anno::usage("metalness")
+	]], 
+	float specular_level = float(0.5) [[
+		anno::display_name("Specular"),
+		anno::description("The specular level (intensity) of the material"),
+		anno::in_group("Reflectivity"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	
+
+	//  ORM  //
+ 
+	uniform bool enable_ORM_texture = false [[
+		anno::display_name("Enable ORM Texture"),
+		anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"),
+		anno::in_group("Reflectivity")
+	]],
+	uniform texture_2d ORM_texture = texture_2d() [[
+		anno::display_name("ORM Map"),
+		anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"),
+		anno::in_group("Reflectivity"),
+		anno::usage("roughness")
+	]],
+
+
+	//  AO Group  // 
+
+	float ao_to_diffuse = 0.0 [[
+		anno::display_name("AO to diffuse"),
+		anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"),
+		anno::in_group("AO"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d ao_texture = texture_2d() [[
+		anno::display_name("Ambient Occlusion Map"),
+		anno::description("The ambient occlusion texture for the material"),
+		anno::in_group("AO"),
+		anno::usage("occlusion")
+	]],
+	
+	
+	//  Emission //  
+
+	uniform bool enable_emission = false [[
+        anno::display_name("Enable Emission"),
+		anno::description("Enables the emission of light from the material"),
+		anno::in_group("Emissive")
+	]],
+	color emissive_color = color(1.0,0.1,0.1) [[
+		anno::display_name("Emissive Color"),
+		anno::description("The emission color"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true")
+	]],
+    	uniform texture_2d emissive_color_texture = texture_2d() [[ 
+		anno::display_name("Emissive Color map"),
+        anno::in_group("Emissive"),
+		anno::description("The emissive color texture"),
+        anno::enable_if("enable_emission == true")
+    ]],	
+	uniform texture_2d emissive_mask_texture = texture_2d() [[
+		anno::display_name("Emissive Mask map"),
+		anno::description("The texture masking the emissive color"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true"),
+	 	anno::usage("occlusion")
+	]],
+	float emissive_intensity = float(40.0) [[
+		anno::display_name("Emissive Intensity"),    
+		anno::description("Intensity of the emission"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true")
+	]],	
+
+
+    //  Cutout Opacity  //
+	
+    uniform bool enable_opacity = false [[
+		anno::display_name("Enable Opacity"),
+		anno::description("Enables the use of cutout opacity"),
+		anno::in_group("Opacity")
+	]],
+ 	uniform texture_2d opacity_texture = texture_2d() [[
+		anno::display_name("Opacity Map"),
+		anno::in_group("Opacity"),
+		anno::usage("opacity")
+	]],
+	float opacity_constant = float(1.0) [[
+		anno::display_name("Opacity Amount"),    
+		anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"),
+		anno::in_group("Opacity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform bool enable_opacity_texture = false [[
+		anno::display_name("Enable Opacity Texture"),
+		anno::description("Enables or disables the usage of the opacity texture map"),
+		anno::in_group("Opacity")
+	]],
+	uniform base::mono_mode opacity_mode = base::mono_average [[
+		anno::display_name("Opacity Mono Source"),
+		anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"),
+		anno::in_group("Opacity")
+	]],
+	uniform float opacity_threshold = float(0.0) [[
+		anno::hard_range(0.0, 1.0),
+		anno::display_name("Opacity Threshold"),
+		anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"),
+		anno::in_group("Opacity")
+	]],
+
+
+	//  Normal  // 
+	
+	uniform float geometry_normal_roughness_strength = 1.f
+	[[
+		anno::hard_range(0.0, 1.0),
+		anno::display_name("Normal map to roughness weight"),
+		anno::description("Enables and weights roughness induced by normal maps"),
+		anno::in_group("Normal")
+	]],
+	uniform float bump_factor = float(1.0) [[
+		anno::display_name("Normal Strength"),
+		anno::description("Strength of normal map"),
+		anno::in_group("Normal"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d normalmap_texture = texture_2d() [[
+		anno::display_name("Normal Map"),
+		anno::in_group("Normal"),
+		anno::usage("normal")
+	]], 
+	uniform float detail_bump_factor = float(0.3) [[
+		anno::display_name("Detail Normal Strength"),
+		anno::in_group("Normal"),
+		anno::description("Strength of the detail normal"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d detail_normalmap_texture = texture_2d() [[
+		anno::display_name("Detail Normal Map"),
+		anno::in_group("Normal"),
+		anno::usage("normal")
+	]],
+	uniform bool flip_tangent_u = false  [[
+        anno::display_name("Normal Map Flip U Tangent"),
+        anno::in_group("Normal")
+    	]],
+	uniform bool flip_tangent_v = true [[
+        anno::display_name("Normal Map Flip V Tangent"),
+        anno::in_group("Normal")
+    	]],
+
+
+	//  UVW Projection Group  //
+
+	uniform bool project_uvw = false [[
+		anno::display_name("Enable Project UVW Coordinates"),
+		anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"),
+		anno::in_group("UV")
+	]],
+	uniform bool world_or_object = false [[
+		anno::display_name("Enable World Space"),
+		anno::description("When enabled, uses world space for projection, otherwise object space is used"),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform int uv_space_index =  0 [[
+		anno::display_name("UV Space Index"),
+		anno::description("UV Space Index."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true"),
+		anno::hard_range(int(0), int(3))
+	]],
+	
+
+	//  UVW Adjustments Group  //
+
+	uniform float2 texture_translate =  float2(0.0) [[
+		anno::display_name("Texture Translate"),
+		anno::description("Controls position of texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float texture_rotate = float(0.0) [[
+		anno::display_name("Texture Rotate"),
+		anno::description("Rotates angle of texture in degrees."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 texture_scale =  float2(1.0) [[
+		anno::display_name("Texture Tiling"),
+		anno::description("Controls the repetition of the texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 detail_texture_translate =  float2(0.0) [[
+		anno::display_name("Detail Texture Translate"),
+		anno::description("Controls the position of the detail texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float detail_texture_rotate =  float(0.0) [[
+		anno::display_name("Detail Texture Rotate"),
+		anno::description("Rotates angle of the detail texture in degrees."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 detail_texture_scale =  float2(1.0) [[
+		anno::display_name("Detail Texture Tiling"),
+		anno::description("Controls the repetition of the detail texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+    ]],
+    
+
+    //  Geometry  //
+
+    uniform float round_edges_radius = float(0.0) [[
+        anno::display_name("Round Edge Radius"),
+        anno::description("Influence radius around the edges in meters"),
+        anno::in_group("Geometry"),
+        anno::soft_range(0.0, 1.0)
+    ]],
+    uniform float round_edges_roundness = float(1.0) [[
+        anno::display_name("Round Edge Roundness"),
+        anno::description("Determines how round the edge will look"),
+        anno::in_group("Geometry"),
+        anno::hard_range(0.0, 1.0)
+    ]],
+    uniform bool round_edges_across_materials = false [[
+        anno::display_name("Round Edge Across Materials"),
+        anno::description("Normal smoothing happens only between facets of equal material, \n"
+                          "\t\tunless this parameter is set true, in which case the smoothing \n"
+                          "\t\thappens between facets irrespective of their materials"),
+        anno::in_group("Geometry")
+    ]]
+) 
+[[
+	anno::display_name("OmniPBR"),
+	anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."),
+    anno::in_group("Base"),
+	anno::version( 2, 1, 2),
+	anno::author("NVIDIA CORPORATION"), 
+	anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic"))
+]] = let {
+
+material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat(
+    diffuse_color_constant: diffuse_color_constant,
+    diffuse_texture: diffuse_texture,
+    albedo_desaturation: albedo_desaturation,
+    albedo_add: albedo_add,
+    albedo_brightness: albedo_brightness,
+    diffuse_tint: diffuse_tint,
+    reflection_roughness_constant: reflection_roughness_constant,
+    reflection_roughness_texture_influence: reflection_roughness_texture_influence,
+    reflectionroughness_texture: reflectionroughness_texture,
+    metallic_constant: metallic_constant,
+    metallic_texture_influence: metallic_texture_influence,
+    metallic_texture: metallic_texture,
+    specular_level: specular_level,
+    enable_ORM_texture: enable_ORM_texture,
+    ORM_texture: ORM_texture,
+    ao_to_diffuse: ao_to_diffuse,
+    ao_texture: ao_texture,
+	enable_emission: enable_emission,
+    emissive_color: emissive_color,
+    emissive_color_texture: emissive_color_texture, 
+    emissive_mask_texture: emissive_mask_texture,
+    emissive_intensity: emissive_intensity,      
+    enable_opacity: enable_opacity,          
+    opacity_texture: opacity_texture,         
+    opacity_constant: opacity_constant,        
+    enable_opacity_texture: enable_opacity_texture,  
+    opacity_mode: opacity_mode,            
+    opacity_threshold: opacity_threshold,
+    geometry_normal_roughness_strength:     geometry_normal_roughness_strength,
+    bump_factor: bump_factor,             
+    normalmap_texture: normalmap_texture,
+    detail_bump_factor: detail_bump_factor,      
+    detail_normalmap_texture: detail_normalmap_texture,
+    flip_tangent_u: flip_tangent_u,          
+    flip_tangent_v: flip_tangent_v,                  
+	project_uvw: project_uvw,
+    world_or_object: world_or_object,         
+    uv_space_index: uv_space_index,          
+    texture_translate: texture_translate,       
+    texture_rotate: texture_rotate,          
+    texture_scale: texture_scale,           
+    detail_texture_translate: detail_texture_translate,
+    detail_texture_rotate: detail_texture_rotate, 
+    detail_texture_scale: detail_texture_scale,
+    round_edges_radius: round_edges_radius,
+    round_edges_roundness: round_edges_roundness,
+    round_edges_across_materials: round_edges_across_materials
+);
+
+} in material(
+surface:  base.surface,
+geometry: base.geometry
+);

robotstudio_so100/materials/mdl/OmniPBRBase.mdl

@@ -0,0 +1,470 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+mdl 1.7;
+
+import ::df::*;
+import ::state::*;
+import ::math::*;
+import ::base::*;
+import ::tex::*;
+import ::anno::*;
+import ::anno::*;
+
+export float3 HemiOctahedronToUnitVector( float2 Oct ) [[
+	anno::hidden()
+]]
+{
+    Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5;
+    float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) );
+    return math::normalize(N);
+}
+
+export struct NormalData  [[
+	anno::hidden()
+]]
+{
+	float3 normal;
+	float2 roughness;
+};
+
+export NormalData tangent_space_normal_roughness_texture(
+    uniform texture_2d texture
+        [[
+            anno::description("The input texture"),
+            anno::usage("normal")
+        ]],
+    uniform float factor = 1.0f
+        [[ anno::description("Determines the degree of bumpiness") ]],
+    uniform bool flip_tangent_u = false
+        [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]],
+    uniform bool flip_tangent_v = false
+        [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]],
+    base::texture_coordinate_info uvw = base::texture_coordinate_info()
+        [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]],
+    uniform float2 crop_u = float2( 0.0, 1.0)
+        [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]],
+    uniform float2 crop_v = float2( 0.0, 1.0)
+        [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]],
+    uniform tex::wrap_mode wrap_u = tex::wrap_repeat
+        [[ anno::description("Wrapping mode in the u direction") ]],
+    uniform tex::wrap_mode wrap_v = tex::wrap_repeat
+        [[ anno::description("Wrapping mode in the v direction") ]],
+    uniform bool clip = false
+        [[
+            anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"),
+            anno::hidden()
+        ]],
+    uniform float scale = 1.
+        [[
+            anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"),
+            anno::unused()
+        ]],
+    uniform float offset = 0.
+        [[
+            anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"),
+            anno::unused()
+        ]],
+    uniform float animation_start_time = 0.
+        [[ anno::description("When to start playing first frame of the animation ") ]],
+    uniform int2 animation_crop  = int2(0, 0)
+        [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]],
+    uniform tex::wrap_mode animation_wrap = tex::wrap_repeat
+        [[ anno::description("Defines what to do outside of regular animation time") ]],
+    uniform float animation_fps = 30
+        [[ anno::description("Framerate to use for animation playback") ]]
+)
+[[
+    anno::description("Interprets the color values of a bitmap as a vector in tangent space"),
+	anno::hidden(),
+    anno::noinline()
+]]
+{
+	NormalData normalData;
+	normalData.roughness = float2(0);
+	normalData.normal = state::normal();
+
+    float frame = 0.0;
+    if(animation_crop != int2(0,0)) //only if we have an animation
+    {
+        frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation
+        switch ( animation_wrap) {
+            case tex::wrap_repeat:
+                frame=frame>0?  math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x:
+                                math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y;
+                break;
+            case tex::wrap_mirrored_repeat:
+                float animation_crop_2y = 2.0*animation_crop.y;
+                frame=frame>0?  math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x:
+                                math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x;
+                if(frame>animation_crop.y)
+                    frame = animation_crop_2y-frame;
+                break;
+            case tex::wrap_clamp:
+                frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y);
+                break;
+            case tex::wrap_clip:
+                frame += animation_crop.x;
+                if(frame < animation_crop.x || frame > animation_crop.y) return normalData;
+                break;
+        }
+    }
+
+    if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource
+        factor == 0.0f)
+        return normalData;
+    {
+        if (clip) {
+            if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) {
+                return normalData;
+            }
+            if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) {
+                return normalData;
+            }
+        }
+        if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) {
+            return normalData;
+        }
+        if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) {
+            return normalData;
+        }
+    }
+    bool pixel_flip_u = flip_tangent_u;
+    bool pixel_flip_v = flip_tangent_v;
+    //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile
+    if (wrap_u == tex::wrap_mirrored_repeat) {
+        if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1)
+            pixel_flip_u = ! pixel_flip_u;
+        else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0)
+            pixel_flip_u = ! pixel_flip_u;
+    }
+    if (wrap_v == tex::wrap_mirrored_repeat) {
+        if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1)
+            pixel_flip_v = ! pixel_flip_v;
+        else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0)
+            pixel_flip_v = ! pixel_flip_v;
+    }
+
+    float3 transformed_tangent_u = uvw.tangent_u;
+    float3 transformed_tangent_v = uvw.tangent_v;
+
+    if (pixel_flip_u)
+        transformed_tangent_u=-transformed_tangent_u;
+    if (pixel_flip_v)
+        transformed_tangent_v=-transformed_tangent_v;
+
+    float3 tangent_space_normal;
+	float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame);
+	if(normal_raw.x > 1.5)
+	{
+		// octahedron packed by OV
+		normal_raw.x -= 2.0;
+		normal_raw.x -= 0.5;
+		normal_raw.y -= 0.5;
+		tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0);
+		normalData.roughness = float2(normal_raw.z, normal_raw.w);
+	}
+	else
+	{
+		// regular
+		tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0;
+		normalData.roughness = float2(0);
+	}
+
+	normalData.normal =  math::normalize(
+        transformed_tangent_u * tangent_space_normal.x * factor +
+        transformed_tangent_v * tangent_space_normal.y * factor +
+        state::normal() * tangent_space_normal.z);
+
+	return normalData;
+}
+
+
+export material OmniPBRBase(
+
+	
+    //  Albdeo  //
+
+	color diffuse_reflection_color = color(0.2) [[
+		anno::display_name("Albedo Color"),
+		anno::description("This is the albedo base color"),
+		anno::in_group("Albedo")
+	]],
+	color diffuse_tint = color(1.0) [[
+		anno::display_name("Albedo Tint"),
+		anno::description("When enabled, this color value is multiplied over the final albedo color"),
+		anno::in_group("Albedo")
+	]],
+
+	
+	//  Reflecitivity //
+	
+	float specular_reflection_roughness = float(0.0) [[
+		anno::display_name("Roughness"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(0.0, 1.0)
+	]],
+	float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[
+		anno::display_name("Aniso roughness"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Reflectivity"),
+		anno::hidden()
+	]],
+	float metalness = float(0.0) [[
+		anno::display_name("Metalness"),
+		anno::description("Bias towards pure specular reflection"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(0.0, 1.0)
+	]],	
+	float specular_level = float(0.5) [[
+		anno::display_name("Specular"),
+		anno::description("The specular level (intensity) of the material"),
+		anno::in_group("Reflectivity"),
+		anno::soft_range(0.0, 1.0)
+	]],
+
+
+	//  Emission  //
+	
+	uniform bool enable_emission = false [[
+		anno::display_name("Enable Emission"),
+		anno::description("Enables the emission of light from the material"),
+		anno::in_group("Emissive")
+	]],
+	color emission_color = color(1.0,0.1,0.1) [[
+		anno::display_name("Emissive Color"),
+		anno::description("The emission color"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true")
+	]],
+	float emission_intensity = float(40.0) [[
+		anno::display_name("Emissive Intensity"),    
+		anno::description("Intensity of the emission"),
+		anno::in_group("Emissive"),
+		anno::soft_range(0.0, 1000.0),
+		anno::enable_if("enable_emission == true")
+	]],
+
+	
+    //  Geometry Opacity  //
+	
+    uniform bool enable_opacity = false [[
+		anno::display_name("Enable Opacity"),
+		anno::description("Enables the use of cutout opacity"),
+		anno::in_group("Opacity")
+	]],
+	float geometry_opacity = float(1.0) [[
+		anno::display_name("Opacity Amount"),    
+		anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"),
+		anno::in_group("Opacity"),
+		anno::hard_range(0.0, 1.0)
+	]],
+	uniform float geometry_opacity_threshold = 0.f
+	[[
+		anno::display_name("Opacity Threshold"),
+		anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"),
+		anno::in_group("Opacity"),
+		anno::hard_range(0.0, 1.0)
+	]],
+
+	
+	//  Clearcoat // 
+	
+    uniform bool enable_coat = false [[
+		anno::display_name("Enable Clearcoat Layer"),
+		anno::description("Adds a coat layer on top of the material when enabled"),
+		anno::in_group("Clearcoat")
+	]],
+	float coat_weight = float(1.0) [[
+		anno::display_name("Clearcoat Weight"),
+		anno::description("Sets the weight for coat layer"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(0.0, 1.0)
+	]],
+	color coat_color = color(1.0) [[
+		anno::display_name("Clearcoat Tint"),
+		anno::description("Clearcoat is tinted and affects the underlying material"),
+		anno::in_group("Clearcoat")
+	]],
+	float coat_transparency = float(1.0) [[
+		anno::display_name("Clearcoat Transparency"),
+		anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(0.0, 1.0)
+	]],
+	float coat_roughness = float(0.0) [[
+		anno::display_name("Clearcoat Roughness"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(0.0, 1.0)
+	]],
+	float2 coat_aniso_roughness = float2(0.0, 0.0) [[
+		anno::display_name("Clearcoat aniso roughness"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Clearcoat"),
+		anno::hidden()
+	]],
+	float coat_ior = float(1.56) [[
+		anno::display_name("Clearcoat IOR"),
+		anno::description("Sets the Index of refraction for the coat layer"),
+		anno::in_group("Clearcoat"),
+		anno::soft_range(0.0, 4.0)
+	]],
+    float3 clearcoat_geometry_normal = state::normal() [[
+        anno::display_name("Clearcoat Normal"),
+        anno::in_group("Clearcoat"),
+        anno::usage("normal")
+    ]],
+
+
+	//  Geometry  //
+
+    uniform float round_edges_radius = float(0.0) [[
+        anno::display_name("Round Edge Radius"),
+        anno::description("Influence radius around the edges in meters"),
+        anno::in_group("Geometry"),
+        anno::soft_range(0.0, 1.0)
+    ]],
+    uniform float round_edges_roundness = float(1.0) [[
+        anno::display_name("Round Edge Roundness"),
+        anno::description("Determines how round the edge will look"),
+        anno::in_group("Geometry"),
+        anno::hard_range(0.0, 1.0)
+    ]],
+    uniform bool round_edges_across_materials = false [[
+        anno::display_name("Round Edge Across Materials"),
+        anno::description("Normal smoothing happens only between facets of equal material, \n"
+                          "\t\tunless this parameter is set true, in which case the smoothing \n"
+                          "\t\thappens between facets irrespective of their materials"),
+        anno::in_group("Geometry")
+    ]],
+    float3 geometry_normal = state::normal() [[
+        anno::display_name("Geometry Normal"),
+        anno::in_group("Geometry"),
+        anno::usage("normal")
+    ]]
+
+) 
+[[
+	anno::display_name("OmniPBR Base"),
+	anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."),
+ 	anno::in_group("Omni Materials"),
+	anno::version( 2, 1, 1),
+	anno::author("NVIDIA CORPORATION"), 
+	anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic"))
+]]
+ = let{
+
+    //  Diffuse Bsdf  //	
+    
+    color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint;
+
+    color base_color = tinted_diffuse_color;
+
+    bsdf diffuse_bsdf = df::weighted_layer(
+		weight: 1.0,
+		layer:  df::diffuse_reflection_bsdf(
+			        tint:       base_color,
+			        roughness:  float(0.0)
+                ),
+		base:   bsdf(),
+		normal: geometry_normal
+	);
+
+	//  Glossy Reflection Bsdf  //
+
+	float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness
+		+ specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1);
+	float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness
+		+ specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1);
+	bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf(
+		roughness_u:    roughness_u,
+		roughness_v:    roughness_v,
+		tint:           color(1.0),
+		mode:           df::scatter_reflect
+	);
+	
+	bsdf custom_curve_layer_bsdf = df::custom_curve_layer(
+		normal_reflectivity:  0.08,		
+		grazing_reflectivity: 1.0,
+		exponent:	          5.0,
+		weight:	              specular_level,
+		layer:                ggx_smith_bsdf,
+		base:	              diffuse_bsdf,
+		normal:               geometry_normal
+	);
+	
+	bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf);
+	
+	bsdf omni_PBR_bsdf = df::weighted_layer(
+        weight:     metalness,
+        layer:	    directional_factor_bsdf,
+		base:	    custom_curve_layer_bsdf,
+		normal:     geometry_normal
+	);
+	
+	//  Clear Coat  // 
+
+	float coat_roughness_u = math::clamp(coat_roughness * coat_roughness
+		+ coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1);
+	float coat_roughness_v = math::clamp(coat_roughness * coat_roughness
+		+ coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1);
+	bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf(
+		roughness_u: coat_roughness_u,
+		roughness_v: coat_roughness_v,
+		tint:        color(1.0),
+		mode:        df::scatter_reflect
+	);
+	
+	bsdf opaque_coat = df::weighted_layer(
+        weight:     coat_transparency,
+		layer:	    ::df::tint( 
+					    tint: coat_color,
+					    base: omni_PBR_bsdf
+                    ),
+		base:	    ::df::diffuse_reflection_bsdf(
+					    tint: coat_color
+                    )
+	);
+	
+	bsdf omni_PBR_coated_bsdf = df::fresnel_layer(
+		ior:     coat_ior,
+		weight:  coat_weight,
+		layer:   coat_bsdf,
+		base:    opaque_coat,
+		normal:  clearcoat_geometry_normal 
+	);
+	
+    bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf;
+                                    
+    color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0);
+	
+	float opacity_value = geometry_opacity;
+    float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0;
+ 
+    material_emission emission = material_emission(
+                                    df::diffuse_edf(),
+                                    intensity: emission_value 
+                                    );
+
+    material_surface surface =  material_surface(
+		                            scattering: final_bsdf,
+		                            emission:   emission
+		                            );
+
+    material_geometry geometry = material_geometry(
+                                    normal: state::rounded_corner_normal(
+                                        radius: round_edges_radius,
+                                        across_materials: round_edges_across_materials,
+                                        roundness: round_edges_roundness
+                                    ),
+                                    cutout_opacity: cutout_opacity
+                                    );
+
+} in material(
+	surface: surface,
+	geometry: geometry
+);

robotstudio_so100/materials/mdl/OmniPBR_ClearCoat.mdl

@@ -0,0 +1,711 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+mdl 1.7;
+
+import ::df::*;
+import ::state::*;
+import ::math::*;
+import ::base::*;
+import ::state::*;
+import ::tex::*;
+import ::anno::*;
+
+import ::debug::*;
+
+import core_definitions::file_texture;
+import core_definitions::normalmap_texture;
+
+import OmniPBRBase::*;
+
+//  Functions  //
+
+
+//  Returns a matrix from R,T,S. inputs //
+
+uniform float4x4 rotation_translation_scale(
+    uniform float3 rotation = float3(0.)
+        [[ anno::description("Rotation applied to every UVW coordinate") ]],
+    uniform float3 translation = float3(0.)
+        [[ anno::description("Offset applied to every UVW coordinate") ]],
+    uniform float3 scaling = float3(1.)
+        [[ anno::description("Scale applied to every UVW coordinate") ]]
+)
+[[
+    anno::description("Construct a transformation matrix from euler rotation, translation and scale"),
+    anno::hidden()
+]]
+{
+    float4x4 scale =
+        float4x4(scaling.x         , 0.0               , 0.0               , 0.0,
+                 0.0               , scaling.y         , 0.0               , 0.0,
+                 0.0               , 0.0               , scaling.z         , 0.0,
+                 translation.x     , translation.y     , translation.z     , 1.0);
+
+    float3 s = math::sin(rotation);
+    float3 c = math::cos(rotation);
+    
+    float4x4 rotate =
+        float4x4(  c.y*c.z    , -c.x*s.z + s.x*s.y*c.z ,  s.x*s.z + c.x*s.y*c.z , 0.0,
+                   c.y*s.z    ,  c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0,
+                  -s.y        ,  s.x*c.y               ,  c.x*c.y               , 0.0,
+                   0.0        ,  0.0                   ,  0                     , 1.0);
+
+    return   scale * rotate;
+}
+
+//  Returns the normal n in tangent space, given n is in internal space. //
+
+float3 transform_internal_to_tangent(float3 n)
+{
+	/* flip_tangent_v */
+    return
+        n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+
+        n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+
+        n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z);
+}
+
+//  Returns the normal n in internal space, given n is in tangent space.
+float3 transform_tangent_to_internal(float3 n)
+{
+    return  state::texture_tangent_u(0) * n.x -
+            state::texture_tangent_v(0) * n.y + /* flip_tangent_v */
+            state::normal() * n.z;
+}
+
+//  Returns a normal by adding a detail normal to a global normal.
+export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal())
+{
+    // http://blog.selfshadow.com/publications/blending-in-detail/
+    float3  n_t = transform_internal_to_tangent(n);
+    float3 nd_t = transform_internal_to_tangent(nd);
+            n_t = n_t + float3(0.,0.,1.);
+           nd_t = nd_t *  float3(-1.,-1.,1.);
+              n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t;
+    return math::normalize(transform_tangent_to_internal(n));
+}
+
+base::texture_return multiply_colors(
+    color color_1 = color(1.0, 1.0, 1.0),
+    color color_2 = color(.5, .5, .5),
+	float weight  = 1.0
+    ) 
+[[ 
+    anno::hidden() 
+]]
+{
+    return base::blend_color_layers(
+                layers: base::color_layer[](
+                    base::color_layer(
+                        layer_color:    color_2,
+                        weight:         weight,
+                        mode:           base::color_layer_multiply
+                        )),
+                base: color_1
+            );
+}
+
+
+//  OmniPBR Clearcoat  //
+
+export material OmniPBR_ClearCoat(
+
+    //  Albdeo  //
+
+	color diffuse_color_constant = color(0.2) [[
+		anno::display_name("Albedo Color"),
+		anno::description("This is the albedo base color"),
+		anno::in_group("Albedo")
+	]],
+	uniform texture_2d diffuse_texture = texture_2d() [[
+		anno::display_name("Albedo Map"),
+		anno::in_group("Albedo")
+	]],
+	float albedo_desaturation = float(0.0) [[
+		anno::display_name("Albedo Map Desaturation"),
+		anno::description("Desaturates the albedo map"),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	float albedo_add = float(0.0) [[
+		anno::display_name("Albedo Add"),
+		anno::description("Adds a constant value to the diffuse color "),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(-1.0), float(1.0))
+	]],	
+	float albedo_brightness = float(1.0) [[
+		anno::display_name("Albedo Brightness"),
+		anno::description("Multiplier for the diffuse color "),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],	
+	color diffuse_tint = color(1.0) [[
+		anno::display_name("Color Tint"),
+		anno::description("When enabled, this color value is multiplied over the final albedo color"),
+		anno::in_group("Albedo")
+	]],
+	
+
+	//  Reflectivity //
+	
+	float reflection_roughness_constant  = float(0.5) [[
+		anno::display_name("Roughness Amount"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	float reflection_roughness_texture_influence = float(0.0) [[
+		anno::display_name("Roughness Map Influence"),
+		anno::description("Blends between the constant value and the lookup of the roughness texture"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d reflectionroughness_texture = texture_2d() [[
+		anno::display_name("Roughness Map"),
+		anno::in_group("Reflectivity"),
+		anno::usage("roughness")
+	]],
+	float metallic_constant = float(0.0) [[
+		anno::display_name("Metallic Amount"),
+		anno::description("Metallic Material"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],	
+	float metallic_texture_influence = float(0.0) [[
+		anno::display_name("Metallic Map Influence"),
+		anno::description("Blends between the constant value and the lookup of the metallic texture"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d metallic_texture = texture_2d() [[
+		anno::display_name("Metallic Map"),
+		anno::in_group("Reflectivity"),
+		anno::usage("metalness")
+	]], 
+	float specular_level = float(0.5) [[
+		anno::display_name("Specular"),
+		anno::description("The specular level (intensity) of the material"),
+		anno::in_group("Reflectivity"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	
+
+	//  ORM  //
+ 
+	uniform bool enable_ORM_texture = false [[
+		anno::display_name("Enable ORM Texture"),
+		anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"),
+		anno::in_group("Reflectivity")
+	]],
+	uniform texture_2d ORM_texture = texture_2d() [[
+		anno::display_name("ORM Map"),
+		anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"),
+		anno::in_group("Reflectivity"),
+		anno::usage("roughness")
+	]],
+
+
+	//  AO Group  // 
+
+	float ao_to_diffuse = 0.0 [[
+		anno::display_name("AO to diffuse"),
+		anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"),
+		anno::in_group("AO"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d ao_texture = texture_2d() [[
+		anno::display_name("Ambient Occlusion Map"),
+		anno::description("The ambient occlusion texture for the material"),
+		anno::in_group("AO"),
+		anno::usage("occlusion")
+	]],
+	
+	
+	//  Emission //  
+
+	uniform bool enable_emission = false [[
+        anno::display_name("Enable Emission"),
+		anno::description("Enables the emission of light from the material"),
+		anno::in_group("Emissive")
+	]],
+	color emissive_color = color(1.0,0.1,0.1) [[
+		anno::display_name("Emissive Color"),
+		anno::description("The emission color"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true")
+	]],
+    	uniform texture_2d emissive_color_texture = texture_2d() [[ 
+		anno::display_name("Emissive Color map"),
+        anno::in_group("Emissive"),
+		anno::description("The emissive color texture"),
+        anno::enable_if("enable_emission == true")
+    	]],	
+	uniform texture_2d emissive_mask_texture = texture_2d() [[
+		anno::display_name("Emissive Mask map"),
+		anno::description("The texture masking the emissive color"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true"),
+		anno::usage("occlusion")
+	]],
+	float emissive_intensity = float(40.0) [[
+		anno::display_name("Emissive Intensity"),    
+		anno::description("Intensity of the emission"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true")
+	]],	
+
+
+    //  Cutout Opacity  //
+	
+    uniform bool enable_opacity = false [[
+		anno::display_name("Enable Opacity"),
+		anno::description("Enables the use of cutout opacity"),
+		anno::in_group("Opacity")
+	]],
+ 	uniform texture_2d opacity_texture = texture_2d() [[
+		anno::display_name("Opacity Map"),
+		anno::in_group("Opacity"),
+		anno::usage("opacity")
+	]],
+	float opacity_constant = float(1.0) [[
+		anno::display_name("Opacity Amount"),    
+		anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"),
+		anno::in_group("Opacity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform bool enable_opacity_texture = false [[
+		anno::display_name("Enable Opacity Texture"),
+		anno::description("Enables or disables the usage of the opacity texture map"),
+		anno::in_group("Opacity")
+	]],
+	uniform base::mono_mode opacity_mode = base::mono_average [[
+		anno::display_name("Opacity Mono Source"),
+		anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"),
+		anno::in_group("Opacity")
+	]],
+	uniform float opacity_threshold = float(0.0) [[
+		anno::display_name("Opacity Threshold"),
+		anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"),
+		anno::in_group("Opacity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+
+
+	//  Clearcoat // 
+	
+	uniform bool enable_clearcoat = false [[
+		anno::display_name("Enable Clearcoat Layer"),
+		anno::description("Adds a clearcoat layer on top of the material when enabled"),
+		anno::in_group("Clearcoat")
+	]],
+	float clearcoat_weight = float(1.0) [[
+		anno::display_name("Clearcoat Weight"),
+		anno::description("Sets the weight for clearcoat layer"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	color clearcoat_tint = color(1.0) [[
+		anno::display_name("Clearcoat Tint"),
+		anno::description("Clearcoat is tinted and affects the underlying material"),
+		anno::in_group("Clearcoat")
+	]],
+	float clearcoat_transparency = float(1.0) [[
+		anno::display_name("Clearcoat Transparency"),
+		anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	float clearcoat_reflection_roughness = float(0.0) [[
+		anno::display_name("Clearcoat Roughness"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	float clearcoat_ior = float(1.56) [[
+		anno::display_name("Clearcoat IOR"),
+		anno::description("Sets the Index of refraction for the clearcoat layer"),
+		anno::in_group("Clearcoat"),
+		anno::soft_range(float(0.0), float(4.0))
+	]],
+	uniform float clearcoat_bump_factor = float(1.0) [[
+		anno::display_name("Clearcoat Normal Map Strength"),
+		anno::description("Strength of normal map."),
+		anno::in_group("Clearcoat"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[
+		anno::display_name("Clearcoat Normal Map"),
+		anno::description("Enables the usage of the normalmap texture"),
+		anno::in_group("Clearcoat"),
+		anno::usage("normal")
+	]], 	
+	uniform float2 clearcoat_texture_translate =  float2(0.0) [[
+		anno::display_name("Clearcoat Texture Translate"),
+		anno::description("Controls the position of the clearcoat texture"),
+		anno::ui_order(1),
+		anno::in_group("UV")
+	]],
+	uniform float clearcoat_texture_rotate = float(0.0) [[
+		anno::display_name("Clearcoat Texture Rotate"),
+		anno::description("Rotates angle of the clearcoat texture in degrees"),
+		anno::ui_order(2),
+		anno::in_group("UV")
+	]],
+	uniform float2 clearcoat_texture_scale = float2(1.0) [[
+		anno::display_name("Clearcoat Texture Tiling"),
+		anno::description("Controls the repetition of the clearcoat texture"),
+		anno::ui_order(3),
+		anno::in_group("UV")
+	]],
+	float clearcoat_flatten = float(1.0) [[
+		anno::display_name("Clearcoat Flatten"),
+		anno::description("Flattens the clearcoat to even out the underlying bump maps"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+
+
+	//  Normal  // 
+	
+	uniform float geometry_normal_roughness_strength = 1.f
+	[[
+		anno::hard_range(0.0, 1.0),
+		anno::display_name("Normal map to roughness weight"),
+		anno::description("Enables and weights roughness induced by normal maps"),
+		anno::in_group("Normal")
+	]],
+	uniform float bump_factor = float(1.0) [[
+		anno::display_name("Normal Strength"),
+		anno::description("Strength of normal map"),
+		anno::in_group("Normal"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d normalmap_texture = texture_2d() [[
+		anno::display_name("Normal Map"),
+		anno::in_group("Normal"),
+		anno::usage("normal")
+	]], 
+	uniform float detail_bump_factor = float(0.3) [[
+		anno::display_name("Detail Normal Strength"),
+		anno::in_group("Normal"),
+		anno::description("Strength of the detail normal"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d detail_normalmap_texture = texture_2d() [[
+		anno::display_name("Detail Normal Map"),
+		anno::in_group("Normal"),
+		anno::usage("normal")
+	]],
+	uniform bool flip_tangent_u = false [[
+        	anno::display_name("Normal Map Flip U Tangent"),
+        	anno::in_group("Normal")
+    ]],
+	uniform bool flip_tangent_v = true [[
+        	anno::display_name("Normal Map Flip V Tangent"),
+        	anno::in_group("Normal")
+    ]],
+
+
+	//  UVW Projection Group  //
+
+	uniform bool project_uvw = false [[
+		anno::display_name("Enable Project UVW Coordinates"),
+		anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"),
+		anno::in_group("UV")
+	]],
+	uniform bool world_or_object = false [[
+		anno::display_name("Enable World Space"),
+		anno::description("When enabled, uses world space for projection, otherwise object space is used"),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform int uv_space_index =  0 [[
+		anno::display_name("UV Space Index"),
+		anno::description("UV Space Index"),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true"),
+		anno::hard_range(int(0), int(3))
+	]],
+	
+
+	//  UVW Adjustments Group  //
+
+	uniform float2 texture_translate = float2(0.0) [[
+		anno::display_name("Texture Translate"),
+		anno::description("Controls position of texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float texture_rotate = float(0.0) [[
+		anno::display_name("Texture Rotate"),
+		anno::description("Rotates angle of texture in degrees."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 texture_scale = float2(1.0) [[
+		anno::display_name("Texture Tiling"),
+		anno::description("Controls repetition of the texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 detail_texture_translate = float2(0.0) [[
+		anno::display_name("Detail Texture Translate"),
+		anno::description("Controls the position of the detail texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float detail_texture_rotate = float(0.0) [[
+		anno::display_name("Detail Texture Rotate"),
+		anno::description("Rotates angle of the detail texture in degrees."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 detail_texture_scale = float2(1.0) [[
+		anno::display_name("Detail Texture Tiling"),
+		anno::description("Controls repetition of the detail texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+    ]],
+
+
+    //  Geometry  //
+
+    uniform float round_edges_radius = float(0.0) [[
+        anno::display_name("Round Edge Radius"),
+        anno::description("Influence radius around the edges in meters"),
+        anno::in_group("Geometry"),
+        anno::soft_range(0.0, 1.0)
+    ]],
+    uniform float round_edges_roundness = float(1.0) [[
+        anno::display_name("Round Edge Roundness"),
+        anno::description("Determines how round the edge will look"),
+        anno::in_group("Geometry"),
+        anno::hard_range(0.0, 1.0)
+    ]],
+    uniform bool round_edges_across_materials = false [[
+        anno::display_name("Round Edge Across Materials"),
+        anno::description("Normal smoothing happens only between facets of equal material, \n"
+                          "\t\tunless this parameter is set true, in which case the smoothing \n"
+                          "\t\thappens between facets irrespective of their materials"),
+        anno::in_group("Geometry")
+    ]]
+) 
+[[
+	anno::display_name("OmniPBR ClearCoat "),
+	anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."),
+	anno::in_group("Base"),
+	anno::version( 2, 1, 1),
+	anno::author("NVIDIA CORPORATION"), 
+	anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic"))
+]] = let {
+
+	//  UVW lookup and transformation  //
+	base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object;
+	
+	base::texture_coordinate_info uvw = project_uvw ?  base::coordinate_projection(
+								coordinate_system: the_system,
+								    texture_space: uv_space_index,
+								  projection_type: base::projection_cubic 
+							    ) :
+							    base::coordinate_source(
+								coordinate_system: base::texture_coordinate_uvw,
+								    texture_space: uv_space_index 
+							    );							
+	
+	base::texture_coordinate_info transformed_uvw = base::transform_coordinate(
+								  			transform: rotation_translation_scale(
+						                      scaling: float3(texture_scale.x, texture_scale.y, 1.0),
+								   			 rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ),
+							        	  translation: float3(texture_translate.x, texture_translate.y, 0.0)
+							        ),
+							        coordinate: uvw
+								);
+	
+	base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate(
+							       		  transform: rotation_translation_scale(
+								  	    	scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0),
+								           rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ),
+								        translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0)
+								        ),
+								        coordinate: uvw
+									);
+
+	base::texture_coordinate_info clearcoat_transformed_uvw =   base::transform_coordinate(
+									  	  transform: rotation_translation_scale(
+								            scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0),
+								           rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ),
+								        translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f)
+									),
+									coordinate: uvw
+									);	
+
+	//  Normal calculations  //
+	OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0));
+
+	OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ?
+		OmniPBRBase::tangent_space_normal_roughness_texture(
+							texture:        normalmap_texture,
+							factor:         bump_factor,
+							uvw:            transformed_uvw,
+							flip_tangent_u: flip_tangent_u,
+							flip_tangent_v: flip_tangent_v	// true for dx, false for opengl
+							//flip_tangent_v: true
+
+		) : defaultData;
+	float3 the_normal = normal_data.normal;
+
+	OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ?
+		OmniPBRBase::tangent_space_normal_roughness_texture(
+							texture:        detail_normalmap_texture,
+							factor:         detail_bump_factor,
+							uvw:            detail_transformed_uvw,
+							flip_tangent_u: flip_tangent_u,
+							flip_tangent_v: flip_tangent_v	// true for dx, false for opengl
+							) : defaultData;
+	float3 detail_normal = detail_normal_data.normal;
+
+	OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ?
+		OmniPBRBase::tangent_space_normal_roughness_texture(
+								texture:        clearcoat_normalmap_texture,
+								factor:         clearcoat_bump_factor,
+								uvw:            clearcoat_transformed_uvw,
+								flip_tangent_u: flip_tangent_u,
+								flip_tangent_v: flip_tangent_v	// true for dx, false for opengl
+							) : defaultData;
+	float3 clearcoat_normal = clearcoat_normal_data.normal;
+
+
+	float3 diffuse_gloss_normal	        = tex::texture_isvalid(detail_normalmap_texture) ?  add_detail_normal(detail_normal, the_normal) : the_normal;
+	float3 flattened_clearcoat_normal   = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten);
+	float3 final_clearcoat_normal       = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal)
+                                                                                            : flattened_clearcoat_normal;
+
+
+	//  ORM Handling  // 
+
+	float3 ORM_lookup = tex::lookup_float3( 
+                              tex: ORM_texture, 
+                            coord: float2(transformed_uvw.position.x, transformed_uvw.position.y)
+                            );
+
+	 
+	float3 roughness_lookup = tex::lookup_float3(
+					  tex: reflectionroughness_texture,
+					coord: float2(transformed_uvw.position.x, transformed_uvw.position.y)		
+					);
+	
+	float roughness_selection    = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x;
+	float reflection_roughness_s   = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence);
+	float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)),
+	                                     math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y)));
+
+	float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)),
+												    math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y)));
+
+	//  Diffuse Color Lookup and AO  //
+	
+	base::texture_return base_lookup = base::file_texture(
+						      	  texture: diffuse_texture,
+					    	 color_offset: color(albedo_add),
+					          color_scale: color(albedo_brightness),
+					          mono_source: base::mono_luminance,
+					                  uvw: transformed_uvw,
+					                 clip: false		
+						);
+	
+	base::texture_return ao_lookup = base::file_texture(
+					 	      	  texture: ao_texture,
+					       	 color_offset: color(0.0, 0.0, 0.0),
+					          color_scale: color(1.0, 1.0, 1.0),
+					          mono_source: base::mono_average,
+					                  uvw: transformed_uvw,
+					       	         clip: false		
+						);
+
+
+	color ao_color          = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint;
+	color desaturated_base  = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation);
+	color diffuse           = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant;
+	color tinted_diffuse    = multiply_colors(diffuse, diffuse_tint, 1.0).tint;
+	
+	color base_color = multiply_colors(
+			   	color_1: tinted_diffuse,
+				color_2: ao_color,
+				 weight: ao_to_diffuse
+				).tint;
+
+	
+	//  Metalness   //
+
+	float3 metallic_lookup = tex::lookup_float3(
+				tex: metallic_texture,
+				coord: float2(transformed_uvw.position.x, transformed_uvw.position.y)
+				);
+					
+	float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x;
+	float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence);
+
+
+	//  Emission   //
+
+	color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ?
+                                        base::file_texture(
+												texture: emissive_color_texture,
+                                           color_offset: color(0.0, 0.0, 0.0),
+                                            color_scale: color(1.0, 1.0, 1.0),
+                                            mono_source: base::mono_average,
+						    						uvw: transformed_uvw,
+						   						   clip: false        
+                                            ).tint : emissive_color;
+
+    color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ?
+                                        base::file_texture(
+												texture: emissive_mask_texture,
+                                           color_offset: color(0.0, 0.0, 0.0),
+                                            color_scale: color(1.0, 1.0, 1.0),
+                                            mono_source: base::mono_average,
+						    						uvw: transformed_uvw,
+						   						   clip: false        
+                                            ).tint : color(1.0);
+  
+    color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0);
+
+    //  Opacity   //
+	
+    float opacity_value = enable_opacity_texture ? base::file_texture(
+						    texture: opacity_texture,
+						mono_source: opacity_mode,
+								uvw: transformed_uvw
+						).mono : opacity_constant;
+
+    float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0;
+
+	material base = OmniPBRBase::OmniPBRBase(
+		diffuse_reflection_color: base_color, 
+		specular_reflection_aniso_roughness: reflection_roughness, 
+		specular_level: specular_level,
+		metalness: metallic,
+		enable_emission: enable_emission,
+		emission_color: final_emission_color,
+		emission_intensity: emissive_intensity,
+		enable_coat: enable_clearcoat,
+		coat_weight: clearcoat_weight,
+		coat_color: clearcoat_tint,
+		coat_transparency: clearcoat_transparency,
+		coat_aniso_roughness: clearcoat_reflection_roughness2,
+		coat_ior: clearcoat_ior,
+		enable_opacity: enable_opacity,
+		geometry_opacity: cutout_opacity,
+		clearcoat_geometry_normal: final_clearcoat_normal,
+		round_edges_radius: round_edges_radius,
+		round_edges_roundness: round_edges_roundness,
+		round_edges_across_materials: round_edges_across_materials,
+		geometry_normal: diffuse_gloss_normal
+    );
+
+} in material(
+surface:  base.surface,
+geometry: base.geometry
+);

robotstudio_so100/payloads/Physics/mujoco.usda

@@ -0,0 +1,216 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "so_arm100"
+{
+    over "base"
+    {
+        over "visuals"
+        {
+            over "Base"
+            {
+            }
+
+            over "Base_Motor"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "Base"
+            {
+            }
+        }
+    }
+
+    over "shoulder"
+    {
+        over "visuals"
+        {
+            over "Rotation_Pitch"
+            {
+            }
+
+            over "Rotation_Pitch_Motor"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "Rotation_Pitch"
+            {
+            }
+        }
+    }
+
+    over "joints"
+    {
+        over "shoulder_pan" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "shoulder_lift" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "elbow_flex" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "wrist_flex" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "wrist_roll" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "gripper" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+    }
+
+    over "upper_arm"
+    {
+        over "visuals"
+        {
+            over "Upper_Arm"
+            {
+            }
+
+            over "Upper_Arm_Motor"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "Upper_Arm"
+            {
+            }
+        }
+    }
+
+    over "lower_arm"
+    {
+        over "visuals"
+        {
+            over "Lower_Arm"
+            {
+            }
+
+            over "Lower_Arm_Motor"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "Lower_Arm"
+            {
+            }
+        }
+    }
+
+    over "wrist"
+    {
+        over "visuals"
+        {
+            over "Wrist_Pitch_Roll"
+            {
+            }
+
+            over "Wrist_Pitch_Roll_Motor"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "Wrist_Pitch_Roll"
+            {
+            }
+        }
+    }
+
+    over "gripper"
+    {
+        over "visuals"
+        {
+            over "Fixed_Jaw"
+            {
+            }
+
+            over "Fixed_Jaw_Motor"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "Fixed_Jaw"
+            {
+            }
+
+            over "Fixed_Jaw_Motor"
+            {
+            }
+        }
+    }
+
+    over "jaw"
+    {
+        over "visuals"
+        {
+            over "Moving_Jaw"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "Moving_Jaw"
+            {
+            }
+        }
+    }
+
+    over "root_joint"
+    {
+    }
+
+    over "Looks"
+    {
+        over "material_a_d_printed"
+        {
+        }
+
+        over "material_sts3215"
+        {
+        }
+    }
+
+    over "VisualMaterials"
+    {
+    }
+}
+

robotstudio_so100/payloads/Physics/none.usda

@@ -0,0 +1,13 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "so_arm100"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def "so_arm100"
+{
+}
+

robotstudio_so100/payloads/Physics/physics.usda

@@ -0,0 +1,342 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "so_arm100"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "so_arm100"
+{
+    over "base" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0, 0, 0)
+        float3 physics:diagonalInertia = (0.01, 0.01, 0.01)
+        float physics:mass = 1
+        quatf physics:principalAxes = (1, 0, 0, 0)
+
+        over "collisions"
+        {
+            over "Base" (
+                instanceable = false
+            )
+            {
+                over "mesh" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "shoulder" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.0000907886, 0.0590972, 0.031089)
+        float3 physics:diagonalInertia = (0.0000594278, 0.0000589975, 0.0000313712)
+        float physics:mass = 0.119226
+        quatf physics:principalAxes = (1, 0, 0, 0)
+
+        over "collisions"
+        {
+            over "Rotation_Pitch" (
+                instanceable = false
+            )
+            {
+                over "mesh_2" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "joints"
+    {
+        def PhysicsRevoluteJoint "shoulder_pan" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.002465164
+            float drive:angular:physics:maxForce = 35
+            float drive:angular:physics:stiffness = 6.16291
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Y"
+            custom rel physics:body0 = </so_arm100/base>
+            custom rel physics:body1 = </so_arm100/shoulder>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.009860656
+            point3f physics:localPos0 = (0, -0.0452, 0.0165)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.707109, 0.70710456, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -114.59155
+            float physics:upperLimit = 114.59155
+        }
+
+        def PhysicsRevoluteJoint "shoulder_lift" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.0023052262
+            float drive:angular:physics:maxForce = 35
+            float drive:angular:physics:stiffness = 5.7630653
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "X"
+            custom rel physics:body0 = </so_arm100/shoulder>
+            custom rel physics:body1 = </so_arm100/upper_arm>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.009220905
+            point3f physics:localPos0 = (0, 0.1025, 0.0306)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.62161, -0.7833269, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 200.53522
+        }
+
+        def PhysicsRevoluteJoint "elbow_flex" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.0006170539
+            float drive:angular:physics:maxForce = 35
+            float drive:angular:physics:stiffness = 1.5426347
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "X"
+            custom rel physics:body0 = </so_arm100/upper_arm>
+            custom rel physics:body1 = </so_arm100/lower_arm>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.0024682155
+            point3f physics:localPos0 = (0, 0.11257, 0.028)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.707109, 0.70710456, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -179.99927
+            float physics:upperLimit = 0
+        }
+
+        def PhysicsRevoluteJoint "wrist_flex" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.002330651
+            float drive:angular:physics:maxForce = 35
+            float drive:angular:physics:stiffness = 5.8266273
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "X"
+            custom rel physics:body0 = </so_arm100/lower_arm>
+            custom rel physics:body1 = </so_arm100/wrist>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.009322604
+            point3f physics:localPos0 = (0, 0.0052, 0.1349)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.87758255, -0.47942555, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -143.23944
+            float physics:upperLimit = 68.75494
+        }
+
+        def PhysicsRevoluteJoint "wrist_roll" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.0003617956
+            float drive:angular:physics:maxForce = 35
+            float drive:angular:physics:stiffness = 0.90448904
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Y"
+            custom rel physics:body0 = </so_arm100/wrist>
+            custom rel physics:body1 = </so_arm100/gripper>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.0014471824
+            point3f physics:localPos0 = (0, -0.0601, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.707109, 0, 0.70710456, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -179.99927
+            float physics:upperLimit = 179.99927
+        }
+
+        def PhysicsRevoluteJoint "gripper" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.000026491503
+            float drive:angular:physics:maxForce = 35
+            float drive:angular:physics:stiffness = 0.066228755
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </so_arm100/gripper>
+            custom rel physics:body1 = </so_arm100/jaw>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.00010596601
+            point3f physics:localPos0 = (-0.0202, -0.0244, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.000006274381, 0, 1, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -11.459155
+            float physics:upperLimit = 114.59155
+        }
+    }
+
+    over "upper_arm" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.0000172052, 0.0701802, 0.00310545)
+        float3 physics:diagonalInertia = (0.000213312, 0.000167164, 0.0000701522)
+        float physics:mass = 0.162409
+        quatf physics:principalAxes = (1, 0, 0, 0)
+
+        over "collisions"
+        {
+            over "Upper_Arm" (
+                instanceable = false
+            )
+            {
+                over "mesh_4" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "lower_arm" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.00339604, 0.00137796, 0.0768007)
+        float3 physics:diagonalInertia = (0.000138803, 0.000107748, 0.0000484242)
+        float physics:mass = 0.147968
+        quatf physics:principalAxes = (1, 0, 0, 0)
+
+        over "collisions"
+        {
+            over "Lower_Arm" (
+                instanceable = false
+            )
+            {
+                over "mesh_6" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "wrist" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.00852653, -0.0352279, -0.0000234622)
+        float3 physics:diagonalInertia = (0.0000345403, 0.0000239041, 0.0000194704)
+        float physics:mass = 0.0661321
+        quatf physics:principalAxes = (1, 0, 0, 0)
+
+        over "collisions"
+        {
+            over "Wrist_Pitch_Roll" (
+                instanceable = false
+            )
+            {
+                over "mesh_8" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "gripper" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.00552377, -0.0280167, 0.000483583)
+        float3 physics:diagonalInertia = (0.0000503136, 0.0000464098, 0.0000272961)
+        float physics:mass = 0.0929859
+        quatf physics:principalAxes = (1, 0, 0, 0)
+
+        over "collisions"
+        {
+            over "Fixed_Jaw" (
+                instanceable = false
+            )
+            {
+                over "mesh_10" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    bool physics:collisionEnabled = 1
+                }
+            }
+
+            over "Fixed_Jaw_Motor" (
+                instanceable = false
+            )
+            {
+                over "mesh_11" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    bool physics:collisionEnabled = 1
+                }
+            }
+        }
+    }
+
+    over "jaw" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.00161745, -0.0303473, 0.000449646)
+        float3 physics:diagonalInertia = (0.0000111265, 0.00000899651, 0.00000299548)
+        float physics:mass = 0.0202444
+        quatf physics:principalAxes = (1, 0, 0, 0)
+
+        over "collisions"
+        {
+            over "Moving_Jaw" (
+                instanceable = false
+            )
+            {
+                over "mesh_12" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    bool physics:collisionEnabled = 1
+                }
+            }
+        }
+    }
+
+    def PhysicsFixedJoint "root_joint" (
+        prepend apiSchemas = ["PhysicsArticulationRootAPI"]
+    )
+    {
+        rel physics:body1 = </so_arm100/base>
+    }
+}
+

robotstudio_so100/payloads/Physics/physx.usda

@@ -0,0 +1,69 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "so_arm100"
+    metersPerUnit = 1
+    subLayers = [
+        @./physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+def "so_arm100"
+{
+    over "joints"
+    {
+        over "shoulder_pan" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.295776
+        }
+
+        over "shoulder_lift" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.295776
+        }
+
+        over "elbow_flex" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.295776
+        }
+
+        over "wrist_flex" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.295776
+        }
+
+        over "wrist_roll" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.295776
+        }
+
+        over "gripper" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.295776
+        }
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["PhysxArticulationAPI"]
+    )
+    {
+        bool physxArticulation:enabledSelfCollisions = 1
+        int physxArticulation:solverPositionIterationCount = 32
+        int physxArticulation:solverVelocityIterationCount = 1
+    }
+}
+

robotstudio_so100/payloads/Robot/none.usda

@@ -0,0 +1,13 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "so_arm100"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def "so_arm100"
+{
+}
+

robotstudio_so100/payloads/Robot/robot.usda

@@ -0,0 +1,182 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "so_arm100"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "so_arm100" (
+    prepend apiSchemas = ["IsaacRobotAPI"]
+)
+{
+    string isaac:description
+    string isaac:namespace
+    prepend rel isaac:physics:robotJoints = [
+        </so_arm100/joints/shoulder_pan>,
+        </so_arm100/joints/shoulder_lift>,
+        </so_arm100/joints/elbow_flex>,
+        </so_arm100/joints/wrist_flex>,
+        </so_arm100/joints/wrist_roll>,
+        </so_arm100/joints/gripper>,
+    ]
+    prepend rel isaac:physics:robotLinks = [
+        </so_arm100/base>,
+        </so_arm100/shoulder>,
+        </so_arm100/upper_arm>,
+        </so_arm100/lower_arm>,
+        </so_arm100/wrist>,
+        </so_arm100/gripper>,
+        </so_arm100/jaw>,
+    ]
+
+    over "base" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "shoulder" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "joints"
+    {
+        over "shoulder_pan" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "shoulder_lift" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "elbow_flex" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "wrist_flex" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "wrist_roll" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "gripper" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+    }
+
+    over "upper_arm" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "lower_arm" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "wrist" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "gripper" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "jaw" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+}
+

robotstudio_so100/payloads/Sensor/none.usda

@@ -0,0 +1,13 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "so_arm100"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def "so_arm100"
+{
+}
+

robotstudio_so100/payloads/Sensor/sensors.usda

@@ -0,0 +1,13 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "so_arm100"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "so_arm100"
+{
+}
+

robotstudio_so100/payloads/base.usda

@@ -0,0 +1,444 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "so_arm100"
+    metersPerUnit = 1
+    subLayers = [
+        @./robot.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "so_arm100"
+{
+    quatd xformOp:orient = (1, 0, 0, 0)
+    double3 xformOp:scale = (1, 1, 1)
+    double3 xformOp:translate = (0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+    def Xform "base"
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "Base" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh>
+            )
+            {
+                rel material:binding = </so_arm100/Looks/material_a_d_printed> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                token visibility = "inherited"
+            }
+
+            def Xform "Base_Motor" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_1_1>
+            )
+            {
+                rel material:binding = </so_arm100/Looks/material_sts3215> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                token visibility = "inherited"
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "Base" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_1>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+            }
+        }
+    }
+
+    def Xform "shoulder"
+    {
+        quatd xformOp:orient = (0.7071089744567871, 0.7071045637130737, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, -0.04520000144839287, 0.016499999910593033)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "Rotation_Pitch" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_2>
+            )
+            {
+                rel material:binding = </so_arm100/Looks/material_a_d_printed> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                token visibility = "inherited"
+            }
+
+            def Xform "Rotation_Pitch_Motor" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_3>
+            )
+            {
+                rel material:binding = </so_arm100/Looks/material_sts3215> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                token visibility = "inherited"
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "Rotation_Pitch" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_2_1>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+            }
+        }
+    }
+
+    def Scope "joints"
+    {
+    }
+
+    def Xform "upper_arm"
+    {
+        quatd xformOp:orient = (0.9934400320053101, -0.11435425281524658, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, -0.0757993683218956, 0.11900018155574799)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "Upper_Arm" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_4>
+            )
+            {
+                rel material:binding = </so_arm100/Looks/material_a_d_printed> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                token visibility = "inherited"
+            }
+
+            def Xform "Upper_Arm_Motor" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_5>
+            )
+            {
+                rel material:binding = </so_arm100/Looks/material_sts3215> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                token visibility = "inherited"
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "Upper_Arm" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_4_1>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+            }
+        }
+    }
+
+    def Xform "lower_arm"
+    {
+        quatd xformOp:orient = (0.7833307981491089, 0.6216050386428833, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0.04018832743167877, 0.12069104611873627)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "Lower_Arm" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_6>
+            )
+            {
+                rel material:binding = </so_arm100/Looks/material_a_d_printed> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                token visibility = "inherited"
+            }
+
+            def Xform "Lower_Arm_Motor" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_7>
+            )
+            {
+                rel material:binding = </so_arm100/Looks/material_sts3215> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                token visibility = "inherited"
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "Lower_Arm" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_6_1>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+            }
+        }
+    }
+
+    def Xform "wrist"
+    {
+        quatd xformOp:orient = (0.9854507446289062, 0.16996094584465027, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, -0.09000180661678314, 0.1564062535762787)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "Wrist_Pitch_Roll" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_8>
+            )
+            {
+                rel material:binding = </so_arm100/Looks/material_a_d_printed> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                token visibility = "inherited"
+            }
+
+            def Xform "Wrist_Pitch_Roll_Motor" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_9>
+            )
+            {
+                rel material:binding = </so_arm100/Looks/material_sts3215> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                token visibility = "inherited"
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "Wrist_Pitch_Roll" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_8_1>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+            }
+        }
+    }
+
+    def Xform "gripper"
+    {
+        quatd xformOp:orient = (0.6968210935592651, 0.12018091231584549, 0.6968167424201965, 0.1201801598072052)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, -0.14662960171699524, 0.13627417385578156)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "Fixed_Jaw" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_10>
+            )
+            {
+                rel material:binding = </so_arm100/Looks/material_a_d_printed> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                token visibility = "inherited"
+            }
+
+            def Xform "Fixed_Jaw_Motor" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_11>
+            )
+            {
+                rel material:binding = </so_arm100/Looks/material_sts3215> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                token visibility = "inherited"
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "Fixed_Jaw" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_10_1>
+            )
+            {
+                rel material:binding = </so_arm100/Looks/material_a_d_printed> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                token visibility = "inherited"
+            }
+
+            def Xform "Fixed_Jaw_Motor" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_11_1>
+            )
+            {
+                rel material:binding = </so_arm100/Looks/material_sts3215> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                token visibility = "inherited"
+            }
+        }
+    }
+
+    def Xform "jaw"
+    {
+        quatd xformOp:orient = (-0.6968123912811279, -0.12017940729856491, 0.6968254446983337, 0.12018166482448578)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-1.2526288628578186e-7, -0.17638644576072693, 0.1471337229013443)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "Moving_Jaw" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_12>
+            )
+            {
+                rel material:binding = </so_arm100/Looks/material_a_d_printed> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                token visibility = "inherited"
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "Moving_Jaw" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_12_1>
+            )
+            {
+                rel material:binding = </so_arm100/Looks/material_a_d_printed> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                token visibility = "inherited"
+            }
+        }
+    }
+
+    def Scope "Looks"
+    {
+        def Material "material_a_d_printed" (
+            instanceable = true
+            prepend references = @./materials.usda@</Materials/material_a_d_printed>
+        )
+        {
+            token outputs:surface.connect = </so_arm100/Looks/material_a_d_printed/SimReadyPreviewSurface.outputs:surface>
+
+            def Shader "SimReadyPreviewSurface"
+            {
+                token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (1, 0.82, 0.12)
+                float inputs:metallic = 0
+                float inputs:opacity = 1
+                float inputs:roughness = 0.5
+                token outputs:surface
+            }
+
+            def Shader "SimReadyUV"
+            {
+                token info:id = "UsdPrimvarReader_float2"
+                token inputs:varname = "st"
+                float2 outputs:result
+            }
+        }
+
+        def Material "material_sts3215" (
+            instanceable = true
+            prepend references = @./materials.usda@</Materials/material_sts3215>
+        )
+        {
+            token outputs:surface.connect = </so_arm100/Looks/material_sts3215/SimReadyPreviewSurface.outputs:surface>
+
+            def Shader "SimReadyPreviewSurface"
+            {
+                token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.1, 0.1, 0.1)
+                float inputs:metallic = 0
+                float inputs:opacity = 1
+                float inputs:roughness = 0.5
+                token outputs:surface
+            }
+
+            def Shader "SimReadyUV"
+            {
+                token info:id = "UsdPrimvarReader_float2"
+                token inputs:varname = "st"
+                float2 outputs:result
+            }
+        }
+    }
+
+    def Scope "VisualMaterials"
+    {
+    }
+}
+

robotstudio_so100/payloads/geometries.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9f0594574978d9dbd0e2006d86e770929083f36ab72b821abd6f62275419437
+size 4374155

robotstudio_so100/payloads/instances.usda

@@ -0,0 +1,880 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Instances"
+{
+    def Xform "mesh" (
+        prepend references = @./geometries.usd@</Geometries/mesh>
+    )
+    {
+        over "mesh" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh>
+    )
+    {
+        over "mesh" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_1_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_1>
+    )
+    {
+        over "mesh_1" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_1_1/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_1_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_2" (
+        prepend references = @./geometries.usd@</Geometries/mesh_2>
+    )
+    {
+        over "mesh_2" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_2/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_2/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_2_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_2>
+    )
+    {
+        over "mesh_2" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_2_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_2_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_3" (
+        prepend references = @./geometries.usd@</Geometries/mesh_3>
+    )
+    {
+        over "mesh_3" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_3/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_3/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_4" (
+        prepend references = @./geometries.usd@</Geometries/mesh_4>
+    )
+    {
+        over "mesh_4" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_4/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_4/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_4_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_4>
+    )
+    {
+        over "mesh_4" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_4_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_4_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_5" (
+        prepend references = @./geometries.usd@</Geometries/mesh_5>
+    )
+    {
+        over "mesh_5" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_5/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_5/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_6" (
+        prepend references = @./geometries.usd@</Geometries/mesh_6>
+    )
+    {
+        over "mesh_6" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_6/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_6/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_6_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_6>
+    )
+    {
+        over "mesh_6" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_6_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_6_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_7" (
+        prepend references = @./geometries.usd@</Geometries/mesh_7>
+    )
+    {
+        over "mesh_7" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_7/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_7/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_8" (
+        prepend references = @./geometries.usd@</Geometries/mesh_8>
+    )
+    {
+        over "mesh_8" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_8/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_8/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_8_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_8>
+    )
+    {
+        over "mesh_8" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_8_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_8_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_9" (
+        prepend references = @./geometries.usd@</Geometries/mesh_9>
+    )
+    {
+        over "mesh_9" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_9/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_9/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_10" (
+        prepend references = @./geometries.usd@</Geometries/mesh_10>
+    )
+    {
+        over "mesh_10" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_10/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_10/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_10_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_10>
+    )
+    {
+        over "mesh_10" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_10_1/VisualMaterials/DefaultMaterial>
+            bool physics:collisionEnabled = 1
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_10_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_11" (
+        prepend references = @./geometries.usd@</Geometries/mesh_11>
+    )
+    {
+        over "mesh_11" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_11/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_11/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_11_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_11>
+    )
+    {
+        over "mesh_11" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_11_1/VisualMaterials/DefaultMaterial>
+            bool physics:collisionEnabled = 1
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_11_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_12" (
+        prepend references = @./geometries.usd@</Geometries/mesh_12>
+    )
+    {
+        over "mesh_12" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_12/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_12/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_12_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_12>
+    )
+    {
+        over "mesh_12" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_12_1/VisualMaterials/DefaultMaterial>
+            bool physics:collisionEnabled = 1
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_12_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+}
+

robotstudio_so100/payloads/materials.usda

@@ -0,0 +1,289 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Materials"
+{
+    def Material "DefaultMaterial"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/DefaultMaterial/DefaultMaterial.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/DefaultMaterial/DefaultMaterial.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/DefaultMaterial/DefaultMaterial.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/DefaultMaterial/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "DefaultMaterial" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Albedo"
+            )
+            color3f inputs:emissive_color = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            float inputs:emissive_intensity = 10000 (
+                customData = {
+                    double default = 10000
+                    dictionary range = {
+                        double max = 100000
+                        double min = 0
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_opacity = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            bool inputs:enable_opacity_texture = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:opacity_constant = 1 (
+                customData = {
+                    double default = 1
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            int inputs:opacity_mode = 1 (
+                customData = {
+                    int default = 1
+                    dictionary range = {
+                        int max = 3
+                        int min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+                renderType = "::base::mono_mode"
+                sdrMetadata = {
+                    string __SDR__enum_value = "mono_average"
+                    string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
+                }
+            )
+            float inputs:opacity_threshold = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:texture_rotate = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 360
+                        double min = 0
+                    }
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_scale = (1, 1) (
+                customData = {
+                    float2 default = (1, 1)
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_translate = (0, 0) (
+                customData = {
+                    float2 default = (0, 0)
+                }
+                displayGroup = "UV"
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+
+    def Material "material_a_d_printed"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/material_a_d_printed/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/material_a_d_printed/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/material_a_d_printed/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/material_a_d_printed/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/material_a_d_printed/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (1, 0.82, 0.12)
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 0.82, 0.12)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+
+    def Material "material_sts3215"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/material_sts3215/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/material_sts3215/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/material_sts3215/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/material_sts3215/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/material_sts3215/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (0.1, 0.1, 0.1)
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.1, 0.1, 0.1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+}
+

robotstudio_so100/payloads/robot.usda

@@ -0,0 +1,190 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "so_arm100"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "so_arm100" (
+    prepend apiSchemas = ["IsaacRobotAPI"]
+)
+{
+    string isaac:description
+    string isaac:namespace
+    prepend rel isaac:physics:robotJoints = [
+        </so_arm100/root_joint>,
+        </so_arm100/joints/shoulder_pan>,
+        </so_arm100/joints/shoulder_lift>,
+        </so_arm100/joints/elbow_flex>,
+        </so_arm100/joints/wrist_flex>,
+        </so_arm100/joints/wrist_roll>,
+        </so_arm100/joints/gripper>,
+    ]
+    prepend rel isaac:physics:robotLinks = [
+        </so_arm100/base>,
+        </so_arm100/shoulder>,
+        </so_arm100/upper_arm>,
+        </so_arm100/lower_arm>,
+        </so_arm100/wrist>,
+        </so_arm100/gripper>,
+        </so_arm100/jaw>,
+    ]
+    token isaac:robotType = "Manipulator"
+
+    over "base" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "shoulder" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "joints"
+    {
+        over "shoulder_pan" (
+            prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "shoulder_lift" (
+            prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "elbow_flex" (
+            prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "wrist_flex" (
+            prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "wrist_roll" (
+            prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "gripper" (
+            prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+    }
+
+    over "upper_arm" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "lower_arm" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "wrist" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "gripper" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "jaw" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["IsaacJointAPI"]
+    )
+    {
+    }
+}
+

robotstudio_so100/payloads/so101-camera_mount/SO-101_camera_mount.usda

@@ -0,0 +1,28 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "so101_new_calib"
+    doc = """Blender v4.5.3 LTS
+
+Generated from Composed Stage of root layer /home/gasoto/Downloads/SO-101_camera_mount.usd
+"""
+    endTimeCode = 1000000
+    metersPerUnit = 1
+    startTimeCode = 0
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+def Xform "so101_new_calib" (
+    prepend references = @./payloads/base.usda@
+)
+{
+}
+
+def PhysicsScene "PhysicsScene" (
+    prepend apiSchemas = ["NewtonSceneAPI"]
+)
+{
+}
+

robotstudio_so100/payloads/so101-camera_mount/Textures/Aluminum_Anodized_Black.mdl

@@ -0,0 +1,43 @@
+mdl 1.4;
+
+using ::OmniPBR import OmniPBR;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Aluminum_Anodized_Black(*)
+ = OmniPBR(
+    diffuse_color_constant: color(0.500000, 0.500000, 0.500000),
+    diffuse_texture: texture_2d("./Aluminum_Anodized_BaseColor.png", ::tex::gamma_srgb),
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(0.05f, 0.05f, 0.05f),
+    reflection_roughness_constant: 0.000000,
+    reflection_roughness_texture_influence: 1.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.000000,
+    metallic_texture_influence: 1.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d("./Aluminum_Anodized_ORM.png", ::tex::gamma_linear),
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(1.000000, 1.000000, 1.000000),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 0.000000,
+    bump_factor: 1.f,
+    normalmap_texture: texture_2d("./Aluminum_Anodized_Normal.png", ::tex::gamma_linear),
+    detail_bump_factor: 0.300000012f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));
+

robotstudio_so100/payloads/so101-camera_mount/payloads/base.usda

@@ -0,0 +1,357 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "so101_new_calib"
+    doc = """Blender v4.5.3 LTS
+
+Generated from Composed Stage of root layer /home/gasoto/Downloads/SO-101_camera_mount.usd
+"""
+    endTimeCode = 1000000
+    metersPerUnit = 1
+    startTimeCode = 0
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+def Xform "so101_new_calib"
+{
+    token visibility = "inherited"
+    quatd xformOp:orient = (0.7071067811865476, 0, 0, 0.7071067811865475)
+    double3 xformOp:scale = (1, 1, 1)
+    double3 xformOp:translate = (0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+    def Scope "Looks"
+    {
+        def Material "material_a_3d_printed" (
+            instanceable = true
+            prepend references = @./materials.usda@</Materials/material_a_3d_printed>
+        )
+        {
+            token outputs:surface.connect = </so101_new_calib/Looks/material_a_3d_printed/SimReadyPreviewSurface.outputs:surface>
+
+            def Shader "SimReadyPreviewSurface"
+            {
+                token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (1, 0.82, 0.12)
+                float inputs:metallic = 0
+                float inputs:opacity = 1
+                float inputs:roughness = 0.5
+                token outputs:surface
+            }
+
+            def Shader "SimReadyUV"
+            {
+                token info:id = "UsdPrimvarReader_float2"
+                token inputs:varname = "st"
+                float2 outputs:result
+            }
+        }
+
+        def Material "material_sts3215" (
+            instanceable = true
+            prepend references = @./materials.usda@</Materials/material_sts3215>
+        )
+        {
+            token outputs:surface.connect = </so101_new_calib/Looks/material_sts3215/SimReadyPreviewSurface.outputs:surface>
+
+            def Shader "SimReadyPreviewSurface"
+            {
+                token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.1, 0.1, 0.1)
+                float inputs:metallic = 0
+                float inputs:opacity = 1
+                float inputs:roughness = 0.5
+                token outputs:surface
+            }
+
+            def Shader "SimReadyUV"
+            {
+                token info:id = "UsdPrimvarReader_float2"
+                token inputs:varname = "st"
+                float2 outputs:result
+            }
+        }
+
+        def Material "PCB" (
+            instanceable = true
+            prepend references = @./materials.usda@</Materials/PCB>
+        )
+        {
+            token outputs:surface.connect = </so101_new_calib/Looks/PCB/SimReadyPreviewSurface.outputs:surface>
+
+            def Shader "SimReadyPreviewSurface"
+            {
+                token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.033725403, 0.06344827, 0.01152279)
+                float inputs:metallic = 0
+                float inputs:opacity = 1
+                float inputs:roughness = 0.58
+                token outputs:surface
+            }
+
+            def Shader "SimReadyUV"
+            {
+                token info:id = "UsdPrimvarReader_float2"
+                token inputs:varname = "st"
+                float2 outputs:result
+            }
+        }
+
+        def Material "Lens" (
+            instanceable = true
+            prepend references = @./materials.usda@</Materials/Lens>
+        )
+        {
+            token outputs:surface.connect = </so101_new_calib/Looks/Lens/SimReadyPreviewSurface.outputs:surface>
+
+            def Shader "SimReadyPreviewSurface"
+            {
+                token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (2e-7, 1.99998e-7, 1.99998e-7)
+                float inputs:metallic = 0
+                float inputs:opacity = 1
+                float inputs:roughness = 0.08
+                token outputs:surface
+            }
+
+            def Shader "SimReadyUV"
+            {
+                token info:id = "UsdPrimvarReader_float2"
+                token inputs:varname = "st"
+                float2 outputs:result
+            }
+        }
+
+        def Material "Silver" (
+            instanceable = true
+            prepend references = @./materials.usda@</Materials/Silver>
+        )
+        {
+            token outputs:surface.connect = </so101_new_calib/Looks/Silver/SimReadyPreviewSurface.outputs:surface>
+
+            def Shader "SimReadyPreviewSurface"
+            {
+                token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.18758622, 0.18758433, 0.18758433)
+                float inputs:metallic = 1
+                float inputs:opacity = 1
+                float inputs:roughness = 0.5
+                token outputs:surface
+            }
+
+            def Shader "SimReadyUV"
+            {
+                token info:id = "UsdPrimvarReader_float2"
+                token inputs:varname = "st"
+                float2 outputs:result
+            }
+        }
+    }
+
+    def Xform "gripper" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.000213627, 0.000245138, -0.025187)
+        float3 physics:diagonalInertia = (0.000024283923, 0.000043373493, 0.000037722883)
+        float physics:mass = 0.087
+        quatf physics:principalAxes = (0.96742505, 0.008077622, -0.25280195, 0.010714625)
+        quatd xformOp:orient = (0.5000019669532776, -0.49999964237213135, -0.5000036358833313, -0.4999951124191284)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.02061525173485279, -0.2774733006954193, 0.2668520510196686)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "camera_mount" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding (
+                bindMaterialAs = "strongerThanDescendants"
+            )
+            token visibility = "inherited"
+            quatd xformOp:orient = (6.123233995736766e-17, 8.197998546692573e-18, -0.7071067811865475, -0.7071067811865476)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (-0.0039141791838348955, 0.025696293891666135, -0.029035789536837282)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "bolts" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/Cylinder_012>
+            )
+            {
+                rel material:binding = </so101_new_calib/Looks/Silver> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                custom string userProperties:blender:object_name = "bolts"
+                quatd xformOp:orient = (0.7071067812, 0, 0, -0.7071067812)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+
+            def Xform "pcb" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/Cube_004>
+            )
+            {
+                rel material:binding = </so101_new_calib/Looks/PCB> (
+                    bindMaterialAs = "weakerThanDescendants"
+                )
+                custom string userProperties:blender:object_name = "pcb"
+                quatd xformOp:orient = (0.7071067812, 0, 0, -0.7071067812)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+
+            def Xform "Cone" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/Cone>
+            )
+            {
+                rel material:binding = </so101_new_calib/Looks/Silver> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                custom string userProperties:blender:object_name = "Cone"
+                quatd xformOp:orient = (0.7071067812, 0, 0, -0.7071067812)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+
+            def Xform "rings" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/Cylinder_021>
+            )
+            {
+                rel material:binding = </so101_new_calib/Looks/Silver> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                custom string userProperties:blender:object_name = "rings"
+                quatd xformOp:orient = (0.7071067812, 0, 0, -0.7071067812)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+
+            def Xform "transistors" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/Cube_009>
+            )
+            {
+                rel material:binding = </so101_new_calib/Looks/Silver> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                custom string userProperties:blender:object_name = "transistors"
+                quatd xformOp:orient = (0.7071067812, 0, 0, -0.7071067812)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+
+            def Xform "mount" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/Cylinder_015>
+            )
+            {
+                rel material:binding = </so101_new_calib/Looks/material_a_3d_printed> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+                custom string userProperties:blender:object_name = "mount"
+                quatd xformOp:orient = (0.7071067812, 0, 0, -0.7071067812)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+
+            def Xform "camera_cover" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/Cylinder_019>
+            )
+            {
+                rel material:binding = </so101_new_calib/Looks/material_sts3215> (
+                    bindMaterialAs = "weakerThanDescendants"
+                )
+                custom string userProperties:blender:object_name = "camera_cover"
+                quatd xformOp:orient = (0.7071067812, 0, 0, -0.7071067812)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+
+            def Xform "focus" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/Cylinder_023>
+            )
+            {
+                rel material:binding = </so101_new_calib/Looks/material_sts3215> (
+                    bindMaterialAs = "weakerThanDescendants"
+                )
+                custom string userProperties:blender:object_name = "focus"
+                quatd xformOp:orient = (0.7071067812, 0, 0, -0.7071067812)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+
+            def Xform "lens" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/Sphere>
+            )
+            {
+                rel material:binding = </so101_new_calib/Looks/Lens> (
+                    bindMaterialAs = "weakerThanDescendants"
+                )
+                custom string userProperties:blender:object_name = "lens"
+                quatd xformOp:orient = (0.7071067812, 0, 0, -0.7071067812)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+
+            def Xform "socket" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/Cube_010>
+            )
+            {
+                rel material:binding = </so101_new_calib/Looks/material_sts3215> (
+                    bindMaterialAs = "weakerThanDescendants"
+                )
+                custom string userProperties:blender:object_name = "socket"
+                quatd xformOp:orient = (0.7071067812, 0, 0, -0.7071067812)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/Cube>
+        )
+        {
+            uniform token purpose = "guide"
+            quatd xformOp:orient = (0, 0, 0.7071067812, 0.7071067812)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (-0.003914179184, 0.02569629389, -0.02903578954)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+
+    def Scope "VisualMaterials"
+    {
+    }
+}
+

robotstudio_so100/payloads/so101-camera_mount/payloads/geometries.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ec6117fce2e9b9aee4139070b7f436666a24ef96fd806f92e72e1902ab36149
+size 222444

robotstudio_so100/payloads/so101-camera_mount/payloads/instances.usda

@@ -0,0 +1,1216 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    doc = """Blender v4.5.3 LTS
+
+Generated from Composed Stage of root layer /home/gasoto/Downloads/SO-101_camera_mount.usd
+"""
+    endTimeCode = 1000000
+    metersPerUnit = 1
+    startTimeCode = 0
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+def Scope "Instances"
+{
+    def Xform "Cylinder_012" (
+        prepend references = @./geometries.usd@</Geometries/Cylinder_012>
+    )
+    {
+        over "Cylinder_012"
+        {
+            custom string userProperties:blender:data_name = "Cylinder.012"
+        }
+    }
+
+    def Xform "Cube_004" (
+        prepend references = @./geometries.usd@</Geometries/Cube_004>
+    )
+    {
+        over "Cube_004"
+        {
+            custom string userProperties:blender:data_name = "Cube.004"
+        }
+    }
+
+    def Xform "Cone" (
+        prepend references = @./geometries.usd@</Geometries/Cone>
+    )
+    {
+        over "Cone"
+        {
+            custom string userProperties:blender:data_name = "Cone"
+        }
+    }
+
+    def Xform "Cylinder_021" (
+        prepend references = @./geometries.usd@</Geometries/Cylinder_021>
+    )
+    {
+        over "Cylinder_021"
+        {
+            custom string userProperties:blender:data_name = "Cylinder.021"
+        }
+    }
+
+    def Xform "Cube_009" (
+        prepend references = @./geometries.usd@</Geometries/Cube_009>
+    )
+    {
+        over "Cube_009"
+        {
+            custom string userProperties:blender:data_name = "Cube.009"
+        }
+    }
+
+    def Xform "Cylinder_015" (
+        prepend references = @./geometries.usd@</Geometries/Cylinder_015>
+    )
+    {
+        over "Cylinder_015"
+        {
+            custom string userProperties:blender:data_name = "Cylinder.015"
+        }
+    }
+
+    def Xform "Cylinder_019" (
+        prepend references = @./geometries.usd@</Geometries/Cylinder_019>
+    )
+    {
+        over "Cylinder_019"
+        {
+            custom string userProperties:blender:data_name = "Cylinder.019"
+        }
+    }
+
+    def Xform "Cylinder_023" (
+        prepend references = @./geometries.usd@</Geometries/Cylinder_023>
+    )
+    {
+        over "Cylinder_023"
+        {
+            custom string userProperties:blender:data_name = "Cylinder.023"
+        }
+    }
+
+    def Xform "Sphere" (
+        prepend references = @./geometries.usd@</Geometries/Sphere>
+    )
+    {
+        over "Sphere"
+        {
+            custom string userProperties:blender:data_name = "Sphere"
+        }
+    }
+
+    def Xform "Cube_010" (
+        prepend references = @./geometries.usd@</Geometries/Cube_010>
+    )
+    {
+        over "Cube_010"
+        {
+            custom string userProperties:blender:data_name = "Cube.010"
+        }
+    }
+
+    def Xform "Cube" (
+        prepend references = @./geometries.usd@</Geometries/Cube>
+    )
+    {
+        over "Cube"
+        {
+            uniform token purpose = "guide"
+        }
+    }
+
+    def Xform "Cube_1" (
+        prepend references = @./geometries.usd@</Geometries/Cube>
+    )
+    {
+        over "Cube"
+        {
+        }
+    }
+
+    def Xform "mesh" (
+        prepend references = @./geometries.usd@</Geometries/mesh>
+    )
+    {
+        over "mesh" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh>
+    )
+    {
+        over "mesh" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_1_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_1>
+    )
+    {
+        over "mesh_1" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_1_1/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_1_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_1_2" (
+        prepend references = @./geometries.usd@</Geometries/mesh_1>
+    )
+    {
+        over "mesh_1" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_1_2/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_1_2/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_2" (
+        prepend references = @./geometries.usd@</Geometries/mesh_2>
+    )
+    {
+        over "mesh_2" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_2/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_2/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_2_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_2>
+    )
+    {
+        over "mesh_2" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_2_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_2_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_3" (
+        prepend references = @./geometries.usd@</Geometries/mesh_3>
+    )
+    {
+        over "mesh_3" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_3/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_3/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_3_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_3>
+    )
+    {
+        over "mesh_3" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_3_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_3_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_4" (
+        prepend references = @./geometries.usd@</Geometries/mesh_4>
+    )
+    {
+        over "mesh_4" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_4/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_4/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_4_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_4>
+    )
+    {
+        over "mesh_4" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_4_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_4_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_5" (
+        prepend references = @./geometries.usd@</Geometries/mesh_5>
+    )
+    {
+        over "mesh_5" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_5/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_5/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_5_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_5>
+    )
+    {
+        over "mesh_5" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_5_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_5_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_6" (
+        prepend references = @./geometries.usd@</Geometries/mesh_6>
+    )
+    {
+        over "mesh_6" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_6/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_6/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_6_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_6>
+    )
+    {
+        over "mesh_6" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_6_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_6_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_7" (
+        prepend references = @./geometries.usd@</Geometries/mesh_7>
+    )
+    {
+        over "mesh_7" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_7/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_7/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_7_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_7>
+    )
+    {
+        over "mesh_7" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_7_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_7_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_8" (
+        prepend references = @./geometries.usd@</Geometries/mesh_8>
+    )
+    {
+        over "mesh_8" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_8/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_8/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_8_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_8>
+    )
+    {
+        over "mesh_8" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_8_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_8_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_9" (
+        prepend references = @./geometries.usd@</Geometries/mesh_9>
+    )
+    {
+        over "mesh_9" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_9/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_9/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_9_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_9>
+    )
+    {
+        over "mesh_9" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_9_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_9_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_10" (
+        prepend references = @./geometries.usd@</Geometries/mesh_10>
+    )
+    {
+        over "mesh_10" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_10/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_10/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_10_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_10>
+    )
+    {
+        over "mesh_10" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_10_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_10_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_11" (
+        prepend references = @./geometries.usd@</Geometries/mesh_11>
+    )
+    {
+        over "mesh_11" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_11/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_11/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_11_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_11>
+    )
+    {
+        over "mesh_11" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_11_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_11_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_12" (
+        prepend references = @./geometries.usd@</Geometries/mesh_12>
+    )
+    {
+        over "mesh_12" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_12/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_12/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_12_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_12>
+    )
+    {
+        over "mesh_12" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_12_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_12_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+}
+

robotstudio_so100/payloads/so101-camera_mount/payloads/materials.usda

@@ -0,0 +1,502 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    doc = """Blender v4.5.3 LTS
+
+Generated from Composed Stage of root layer /home/gasoto/Downloads/SO-101_camera_mount.usd
+"""
+    endTimeCode = 1000000
+    metersPerUnit = 1
+    startTimeCode = 0
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+def Scope "Materials"
+{
+    def Material "material_a_3d_printed"
+    {
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/material_a_3d_printed/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/material_a_3d_printed/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/material_a_3d_printed/Shader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/material_a_3d_printed/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../../../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (1, 0.82, 0.12)
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 0.82, 0.12)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            token inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_sts3215"
+    {
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/material_sts3215/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/material_sts3215/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/material_sts3215/Shader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/material_sts3215/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../../../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (0.1, 0.1, 0.1)
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.1, 0.1, 0.1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            token inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "Aluminum_Anodized_Black"
+    {
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Aluminum_Anodized_Black/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Aluminum_Anodized_Black/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Aluminum_Anodized_Black/Shader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/Aluminum_Anodized_Black/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../Textures/Aluminum_Anodized_Black.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "Aluminum_Anodized_Black"
+            token outputs:out (
+                renderType = "material"
+            )
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/Aluminum_Anodized_Black/SimReady_diffuse_texture.outputs:rgb>
+            float inputs:metallic.connect = </Materials/Aluminum_Anodized_Black/SimReady_ORM_texture.outputs:b>
+            normal3f inputs:normal.connect = </Materials/Aluminum_Anodized_Black/SimReady_normalmap_texture.outputs:rgb>
+            float inputs:opacity = 1
+            float inputs:roughness.connect = </Materials/Aluminum_Anodized_Black/SimReady_ORM_texture.outputs:g>
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            token inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "SimReady_diffuse_texture"
+        {
+            token info:id = "UsdUVTexture"
+            float4 inputs:bias = (0, 0, 0, 0)
+            asset inputs:file = @./../Textures/Aluminum_Anodized_BaseColor.png@
+            float4 inputs:scale = (0.05, 0.05, 0.05, 1)
+            token inputs:sourceColorSpace = "sRGB"
+            float2 inputs:st.connect = </Materials/Aluminum_Anodized_Black/SimReadyUV.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float outputs:a
+            float outputs:b
+            float outputs:g
+            float outputs:r
+            float3 outputs:rgb
+        }
+
+        def Shader "SimReady_ORM_texture"
+        {
+            token info:id = "UsdUVTexture"
+            float4 inputs:bias = (0, 0, 0, 0)
+            asset inputs:file = @./../Textures/Aluminum_Anodized_ORM.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "raw"
+            float2 inputs:st.connect = </Materials/Aluminum_Anodized_Black/SimReadyUV.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float outputs:a
+            float outputs:b
+            float outputs:g
+            float outputs:r
+            float3 outputs:rgb
+        }
+
+        def Shader "SimReady_normalmap_texture"
+        {
+            token info:id = "UsdUVTexture"
+            float4 inputs:bias = (-1, -1, -1, 0)
+            asset inputs:file = @./../Textures/Aluminum_Anodized_Normal.png@
+            float4 inputs:scale = (2, 2, 2, 1)
+            token inputs:sourceColorSpace = "raw"
+            float2 inputs:st.connect = </Materials/Aluminum_Anodized_Black/SimReadyUV.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float outputs:a
+            float outputs:b
+            float outputs:g
+            float outputs:r
+            float3 outputs:rgb
+        }
+    }
+
+    def Material "PCB"
+    {
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/PCB/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/PCB/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/PCB/Shader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/PCB/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../../../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_tint = (0.16862702, 0.31724137, 0.057613954)
+            float inputs:reflection_roughness_constant = 0.58
+            float inputs:specular_level = 0.39
+            token outputs:out (
+                renderType = "material"
+            )
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.033725403, 0.06344827, 0.01152279)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.58
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            token inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "Lens"
+    {
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Lens/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Lens/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Lens/Shader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/Lens/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../../../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_tint = (0.000001, 9.9999e-7, 9.9999e-7)
+            float inputs:reflection_roughness_constant = 0.08
+            token outputs:out (
+                renderType = "material"
+            )
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (2e-7, 1.99998e-7, 1.99998e-7)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.08
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            token inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "Silver"
+    {
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Silver/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Silver/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Silver/Shader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/Silver/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../../../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_tint = (0.93793106, 0.93792164, 0.93792164)
+            float inputs:metallic_constant = 1
+            float inputs:reflection_roughness_constant = 0.5
+            float inputs:specular_level = 1
+            token outputs:out (
+                renderType = "material"
+            )
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.18758622, 0.18758433, 0.18758433)
+            float inputs:metallic = 1
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            token inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "DefaultMaterial"
+    {
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/DefaultMaterial/DefaultMaterial.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/DefaultMaterial/DefaultMaterial.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/DefaultMaterial/DefaultMaterial.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "DefaultMaterial" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../../../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Albedo"
+            )
+            color3f inputs:emissive_color = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            float inputs:emissive_intensity = 10000 (
+                customData = {
+                    double default = 10000
+                    dictionary range = {
+                        double max = 100000
+                        double min = 0
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_opacity = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            bool inputs:enable_opacity_texture = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:opacity_constant = 1 (
+                customData = {
+                    double default = 1
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            int inputs:opacity_mode = 1 (
+                customData = {
+                    int default = 1
+                    dictionary range = {
+                        int max = 3
+                        int min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+                renderType = "::base::mono_mode"
+                sdrMetadata = {
+                    string __SDR__enum_value = "mono_average"
+                    string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
+                }
+            )
+            float inputs:opacity_threshold = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:texture_rotate = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 360
+                        double min = 0
+                    }
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_scale = (1, 1) (
+                customData = {
+                    float2 default = (1, 1)
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_translate = (0, 0) (
+                customData = {
+                    float2 default = (0, 0)
+                }
+                displayGroup = "UV"
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            token inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+}
+

robotstudio_so100/runnables/physics/mujoco.usda

@@ -0,0 +1,262 @@
+#usda 1.0
+(
+    defaultPrim = "so_arm100"
+)
+
+def "so_arm100"
+{
+    over "base"
+    {
+        over "collisions"
+        {
+            over "Base"
+            {
+                over "mesh" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "shoulder"
+    {
+        over "collisions"
+        {
+            over "Rotation_Pitch"
+            {
+                over "mesh_2" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "upper_arm"
+    {
+        over "collisions"
+        {
+            over "Upper_Arm"
+            {
+                over "mesh_4" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "lower_arm"
+    {
+        over "collisions"
+        {
+            over "Lower_Arm"
+            {
+                over "mesh_6" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "wrist"
+    {
+        over "collisions"
+        {
+            over "Wrist_Pitch_Roll"
+            {
+                over "mesh_8" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "gripper"
+    {
+        over "collisions"
+        {
+            over "Fixed_Jaw"
+            {
+                over "mesh_10" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+
+            over "Fixed_Jaw_Motor"
+            {
+                over "mesh_11" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "jaw"
+    {
+        over "collisions"
+        {
+            over "Moving_Jaw"
+            {
+                over "mesh_12" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "joints"
+    {
+        over "shoulder_pan" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "shoulder_lift" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "elbow_flex" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "wrist_flex" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "wrist_roll" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "gripper" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+    }
+
+    def "MuJoCoActuators"
+    {
+        def MjcActuator "act_so_arm100_joints_shoulder_pan" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -353.1087316359633, -0.1412434962188903]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 35
+            double mjc:forceRange:min = -35
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </so_arm100/joints/shoulder_pan>
+        }
+
+        def MjcActuator "act_so_arm100_joints_shoulder_lift" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -330.19932093325673, -0.13207973023026037]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 35
+            double mjc:forceRange:min = -35
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </so_arm100/joints/shoulder_lift>
+        }
+
+        def MjcActuator "act_so_arm100_joints_elbow_flex" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -88.38645910552187, -0.035354583263346694]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 35
+            double mjc:forceRange:min = -35
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </so_arm100/joints/elbow_flex>
+        }
+
+        def MjcActuator "act_so_arm100_joints_wrist_flex" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -333.84115047795086, -0.13353646817396395]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 35
+            double mjc:forceRange:min = -35
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </so_arm100/joints/wrist_flex>
+        }
+
+        def MjcActuator "act_so_arm100_joints_wrist_roll" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -51.823404629311426, -0.02072936066177755]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 35
+            double mjc:forceRange:min = -35
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </so_arm100/joints/wrist_roll>
+        }
+
+        def MjcActuator "act_so_arm100_joints_gripper" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -3.794628133503297, -0.0015178513364441462]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 35
+            double mjc:forceRange:min = -35
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </so_arm100/joints/gripper>
+        }
+    }
+}
+

robotstudio_so100/runnables/physics/newton.usda

@@ -0,0 +1,200 @@
+#usda 1.0
+(
+    defaultPrim = "so_arm100"
+)
+
+over "so_arm100"
+{
+    over "base"
+    {
+        over "collisions"
+        {
+            over "Base"
+            {
+                over "mesh" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "shoulder"
+    {
+        over "collisions"
+        {
+            over "Rotation_Pitch"
+            {
+                over "mesh_2" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "upper_arm"
+    {
+        over "collisions"
+        {
+            over "Upper_Arm"
+            {
+                over "mesh_4" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "lower_arm"
+    {
+        over "collisions"
+        {
+            over "Lower_Arm"
+            {
+                over "mesh_6" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "wrist"
+    {
+        over "collisions"
+        {
+            over "Wrist_Pitch_Roll"
+            {
+                over "mesh_8" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "gripper"
+    {
+        over "collisions"
+        {
+            over "Fixed_Jaw"
+            {
+                over "mesh_10" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+
+            over "Fixed_Jaw_Motor"
+            {
+                over "mesh_11" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "jaw"
+    {
+        over "collisions"
+        {
+            over "Moving_Jaw"
+            {
+                over "mesh_12" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["NewtonArticulationRootAPI"]
+    )
+    {
+        bool newton:selfCollisionEnabled = 0
+    }
+
+    over "joints"
+    {
+        over "shoulder_pan" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 22.9075
+            float newton:damping = 0.763582
+            float newton:velocityLimit = 57.295776
+        }
+
+        over "shoulder_lift" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 22.9075
+            float newton:damping = 0.763582
+            float newton:velocityLimit = 57.295776
+        }
+
+        over "elbow_flex" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 22.9075
+            float newton:damping = 0.763582
+            float newton:velocityLimit = 57.295776
+        }
+
+        over "wrist_flex" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 22.9075
+            float newton:damping = 0.763582
+            float newton:velocityLimit = 57.295776
+        }
+
+        over "wrist_roll" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 22.9075
+            float newton:damping = 0.763582
+            float newton:velocityLimit = 57.295776
+        }
+
+        over "gripper" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 22.9075
+            float newton:damping = 0.763582
+            float newton:velocityLimit = 57.295776
+        }
+    }
+}
+

robotstudio_so100/runnables/physics/physx.usda

@@ -0,0 +1,178 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "so_arm100"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "so_arm100"
+{
+    over "joints"
+    {
+        over "shoulder_pan" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.295776
+        }
+
+        over "shoulder_lift" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.295776
+        }
+
+        over "elbow_flex" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.295776
+        }
+
+        over "wrist_flex" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.295776
+        }
+
+        over "wrist_roll" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.295776
+        }
+
+        over "gripper" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.295776
+        }
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["PhysxArticulationAPI"]
+    )
+    {
+        bool physxArticulation:enabledSelfCollisions = 0
+        int physxArticulation:solverPositionIterationCount = 32
+        int physxArticulation:solverVelocityIterationCount = 1
+    }
+
+    over "base"
+    {
+        over "collisions"
+        {
+            over "Base"
+            {
+                over "mesh"
+                {
+                    token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "shoulder"
+    {
+        over "collisions"
+        {
+            over "Rotation_Pitch"
+            {
+                over "mesh_2"
+                {
+                    token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "upper_arm"
+    {
+        over "collisions"
+        {
+            over "Upper_Arm"
+            {
+                over "mesh_4"
+                {
+                    token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "lower_arm"
+    {
+        over "collisions"
+        {
+            over "Lower_Arm"
+            {
+                over "mesh_6"
+                {
+                    token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "wrist"
+    {
+        over "collisions"
+        {
+            over "Wrist_Pitch_Roll"
+            {
+                over "mesh_8"
+                {
+                    token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "gripper"
+    {
+        over "collisions"
+        {
+            over "Fixed_Jaw"
+            {
+                over "mesh_10" (
+                    prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+                )
+                {
+                    token physics:approximation = "convexDecomposition"
+                }
+            }
+
+            over "Fixed_Jaw_Motor"
+            {
+                over "mesh_11" (
+                    prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+                )
+                {
+                    token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "jaw"
+    {
+        over "collisions"
+        {
+            over "Moving_Jaw"
+            {
+                over "mesh_12" (
+                    prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+                )
+                {
+                    token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+}
+

robotstudio_so100/so100.usda

@@ -0,0 +1,499 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/so_arm100"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/so_arm100"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/so_arm100"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            dictionary validation = {
+                string profile = "Robot-Body"
+                string profile_version = "3.0.0"
+                dictionary validated_features = {
+                    dictionary "2026-10-20" = {
+                        dictionary "CAP000_Core.Isaac.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP000_Core.MuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP000_Core.Newton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP000_Core.OpenUSD.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP000_Core.PhysX.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP004_Multibody.MuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP021_RobotCore.Isaac.0-3-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-3-0"
+                        }
+                        dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP024_BaseArticulation.Newton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP025_RosBridge.Ros.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            string "optional requirements" = "['com.nvidia.simready.ROS.001']"
+                            bool passed = 0
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-4-0"
+                        }
+                        dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-3-0"
+                        }
+                        dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "1-0-1"
+                        }
+                        dictionary "FET003_RigidBody.Newton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET003_RigidBody.OpenUSD.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET003_RigidBody.PhysX.0-4-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-4-0"
+                        }
+                        dictionary "FET004_Multibody.Newton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET003_RigidBody.Newton.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET004_Multibody.OpenUSD.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET004_Multibody.PhysX.0-4-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET003_RigidBody.PhysX.0-4-0']"
+                            bool passed = 1
+                            string version = "0-4-0"
+                        }
+                        dictionary "FET004_Multibody.RobotNewton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET006_Materials.MDL.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET006_Materials.OpenUSD.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET006_Materials.Openpbr.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET022_DrivenJoints.Isaac.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET022_DrivenJoints.Newton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET022_DrivenJoints.PhysX.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET004_Multibody.PhysX.0-4-0']"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                    }
+                }
+            }
+        }
+        float3 asset_extents = (0.110925, 0.3138494, 0.17550161)
+        string asset_license = "Apache-2.0"
+        string asset_name = "so100"
+        string asset_type = "robot"
+        string author = "RobotStudio"
+        string category = "robotic arm"
+        double mass = 1.6089653838425875
+        dictionary omni_layer = {
+            string authoring_layer = "./so100.usda"
+        }
+        string qcode = "Q40687"
+        dictionary renderSettings = {
+        }
+        int rigid_body_count = 7
+        string source_file = "RobotStudio/so100/so100.usda"
+        string usd_date_generated = "2026-10-02"
+    }
+    defaultPrim = "so_arm100"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "so_arm100" (
+    kind = "component"
+    prepend references = [
+        @./payloads/Physics/physics.usda@,
+        @./payloads/base.usda@
+    ]
+    variants = {
+        string MuJoCo = "Disabled"
+        string Newton = "Disabled"
+        string PhysX = "Disabled"
+        string Robot = "none"
+        string Sensor = "none"
+    }
+    variantSets = ["Robot", "Sensor", "PhysX", "Newton", "MuJoCo"]
+)
+{
+    color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] (
+        interpolation = "constant"
+    )
+
+    over "base"
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "collisions"
+        {
+            token visibility = "invisible"
+        }
+    }
+
+    over "shoulder"
+    {
+        over "collisions"
+        {
+            token visibility = "invisible"
+        }
+    }
+
+    over "upper_arm"
+    {
+        over "collisions"
+        {
+            token visibility = "invisible"
+        }
+    }
+
+    over "lower_arm"
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "collisions"
+        {
+            token visibility = "invisible"
+        }
+    }
+
+    over "wrist"
+    {
+        over "collisions"
+        {
+            token visibility = "invisible"
+        }
+    }
+
+    over "gripper"
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "visuals"
+        {
+            token visibility = "inherited"
+
+            over "Fixed_Jaw"
+            {
+                token visibility = "inherited"
+            }
+
+            over "Fixed_Jaw_Motor"
+            {
+                token visibility = "inherited"
+            }
+        }
+
+        over "collisions"
+        {
+            uniform token purpose = "guide"
+            token visibility = "invisible"
+        }
+    }
+
+    over "jaw"
+    {
+        over "collisions"
+        {
+            uniform token purpose = "guide"
+            token visibility = "invisible"
+        }
+    }
+    variantSet "Robot" = {
+        "none" (
+            prepend payload = @./payloads/Robot/none.usda@
+        ) {
+
+        }
+        "robot" (
+            prepend payload = @./payloads/Robot/robot.usda@
+        ) {
+
+        }
+    }
+    variantSet "Sensor" = {
+        "none" (
+            prepend payload = @./payloads/Sensor/none.usda@
+        ) {
+
+        }
+        "sensors" (
+            prepend payload = @./payloads/Sensor/sensors.usda@
+        ) {
+
+        }
+    }
+    variantSet "PhysX" = {
+        "Disabled" {
+
+        }
+        "Enabled" (
+            prepend payload = @./runnables/physics/physx.usda@
+        ) {
+
+        }
+    }
+    variantSet "Newton" = {
+        "Disabled" {
+
+        }
+        "Enabled" (
+            prepend payload = @./runnables/physics/newton.usda@
+        ) {
+
+        }
+    }
+    variantSet "MuJoCo" = {
+        "Disabled" {
+
+        }
+        "Enabled" (
+            prepend payload = @./runnables/physics/mujoco.usda@
+        ) {
+
+        }
+    }
+}
+
+def "Render" (
+    hide_in_stage_window = true
+    no_delete = true
+)
+{
+    def "OmniverseKit"
+    {
+        def "HydraTextures" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
+                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxSettingsParticleFieldAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                token omni:rtx:ambientOcclusion:denoiserMode = "none"
+                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
+                token omni:rtx:background:source:type = "domeLight"
+                bool omni:rtx:debug:view:pixelDebug:enableFixedTextPos = 1
+                token omni:rtx:directLighting:sampledLighting:denoisingTechnique = "None"
+                bool omni:rtx:dlss:frameGeneration = 0
+                bool omni:rtx:indirectDiffuse:denoiser:enabled = 0
+                bool omni:rtx:material:db:syncLoads = 1
+                token omni:rtx:post:dlss:execMode = "performance"
+                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
+                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
+                bool omni:rtx:pt:adaptiveSampling:filterError = 0
+                uint omni:rtx:pt:adaptiveSampling:fixedSppIterations = 2
+                uint omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                uint omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                bool omni:rtx:reflections:denoiser:enabled = 0
+                token omni:rtx:rendermode = "RealTimePathTracing"
+                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
+                bool omni:rtx:rt:demoire = 0
+                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
+                int omni:rtx:rt:sss:samples = 1
+                uint omni:rtx:rtpt:maxVolumeBounces = 15
+                float omni:rtx:rtpt:modulatingRoughnessThreshold = 0.08
+                bool omni:rtx:scene:hydra:materialSyncLoads = 1
+                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
+                rel orderedVars = </Render/Vars/LdrColor>
+                custom bool overrideClipRange = 0
+                uniform int2 resolution = (1280, 720)
+            }
+        }
+    }
+
+    def RenderSettings "OmniverseGlobalRenderSettings" (
+        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
+        no_delete = true
+    )
+    {
+        rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>
+    }
+
+    def "Vars" (
+        hide_in_stage_window = true
+        no_delete = true
+    )
+    {
+        def RenderVar "LdrColor" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            uniform string sourceName = "LdrColor"
+            uniform token sourceType = "raw"
+        }
+    }
+}
+

robotstudio_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package-Candidate",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-23T23:04:30",
+  "assets": [
+    {
+      "asset": "so101_new_calib.usda",
+      "features": [
+        {
+          "FET_031_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_033_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_031_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

robotstudio_so101_new_calib/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,279 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": ".simready/validation.json",
+      "size": 7545,
+      "hash": {
+        "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b",
+        "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56"
+      }
+    },
+    {
+      "relative_path": ".thumbs/256x256/.so101_new_calib.usda.last_generated",
+      "size": 19,
+      "hash": {
+        "sha256-flat-1mb": "ad399b0f252a3421f48f1d521da0fae14a3f32d46b863b7ec7543233f16c3b06",
+        "sha256": "5f7c0b4c14ecde6a1f5b0f86d19681a8c387dcaf352934a89d0ae842a4131a67"
+      }
+    },
+    {
+      "relative_path": ".thumbs/256x256/so101_new_calib.usda.png",
+      "size": 48104,
+      "hash": {
+        "sha256-flat-1mb": "050ff5d66f0afbfc743ba71bc66f9ec3179b9924c24a0815d26b2aeafa9d683a",
+        "sha256": "1971a86735cf1aee75d586988ef5130d1e3b1fa77155b905ac7b4e575bbfe44d"
+      }
+    },
+    {
+      "relative_path": ".thumbs/so101_new_calib.thumb.usd",
+      "size": 6132,
+      "hash": {
+        "sha256-flat-1mb": "4a9c7e07c29c80fd3a77fac04ad659b85a5a07651f219a01caa074fdf59bd38b",
+        "sha256": "f803a817b62017bc9142998856649d33ea9f37684694e9e9a855f94899cc2fbb"
+      }
+    },
+    {
+      "relative_path": "materials/mdl/LICENSE.md",
+      "size": 3220,
+      "hash": {
+        "sha256-flat-1mb": "d54635995b7794c6549d0f7c70586e739c1e24cb671ce966e64a8c1a6703a452",
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+      }
+    },
+    {
+      "relative_path": "materials/mdl/OmniPBR.mdl",
+      "size": 13969,
+      "hash": {
+        "sha256-flat-1mb": "1c58f77068df165a71676dfde42a4b7e4932a82cacacfc7a205ae94fc0332aaf",
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+      }
+    },
+    {
+      "relative_path": "materials/mdl/OmniPBRBase.mdl",
+      "size": 17274,
+      "hash": {
+        "sha256-flat-1mb": "4b54e7fb8bc92191512851b3acc6fc6fa9863f80d98ffece8f0cb9b99f5f4535",
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+      }
+    },
+    {
+      "relative_path": "materials/mdl/OmniPBR_ClearCoat.mdl",
+      "size": 27433,
+      "hash": {
+        "sha256-flat-1mb": "b1f146a3767a5012936e3d246f2697c3536c2f72b5c5963d3bca0998d02f8931",
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+      }
+    },
+    {
+      "relative_path": "materials/mdl/aux_definitions.mdl",
+      "size": 101769,
+      "hash": {
+        "sha256-flat-1mb": "6a5ffcb49e18ade213c3a4d79cf171d66612f9eee045074a0b937dbe4cf01ef6",
+        "sha256": "ebb81c8977aeb30790399ec7aaa7f2f76cb23afb434f56201ef152aba45a6e81"
+      }
+    },
+    {
+      "relative_path": "materials/mdl/core_definitions.mdl",
+      "size": 201537,
+      "hash": {
+        "sha256-flat-1mb": "54bdc55e3899f126b1e271eef4de9c5966b1390fb3143872846f29f0ca68378d",
+        "sha256": "052aec260e8dfef5d671545fc2fc28c0c478a5b043041c65a833b2a6d81bf950"
+      }
+    },
+    {
+      "relative_path": "materials/mdl/support_definitions.mdl",
+      "size": 147454,
+      "hash": {
+        "sha256-flat-1mb": "2b93c649c03f3ef48fb24cc6baba953df1f9dd4e7e860719bc3322fc3e789aba",
+        "sha256": "bb372f21b6e81d293b99fea6819a8309e2c33c732c7151752b4b33dade177f2e"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/mujoco.usda",
+      "size": 4572,
+      "hash": {
+        "sha256-flat-1mb": "4c95f72842ed0c5b82d0398178071ca34da7bf61318b4cf4de9fdcc20f2333d4",
+        "sha256": "e5491a7b9ce9e43cfa2d12ec0b300e2b636e07c65eb69fea2a337a9c2b16e616"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/none.usda",
+      "size": 147,
+      "hash": {
+        "sha256-flat-1mb": "1ab9760654ab710763793529bc6243eed9987ab3b3b0a3ab0bf0fb8855f5bbb2",
+        "sha256": "cda14b6bd38510a9337bc5a224af6ca474b4a1a328b980af413f5794ee692385"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/physics.usda",
+      "size": 20378,
+      "hash": {
+        "sha256-flat-1mb": "466c97ca11f148427d28c264ff3baea74800471b2cc99bbdb190260a0e0653b0",
+        "sha256": "6a32a467492ae963700a9349fafa2093483fff8227a0ee930ed744a0f3a5707c"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/physx.usda",
+      "size": 1516,
+      "hash": {
+        "sha256-flat-1mb": "3ab22182a3b865b0318e22996b7a61d9fb55e80cb2a13df843db67324c8ffb71",
+        "sha256": "88a734d72b16a63304062a7618a31f0fa2a64e90c96ee9a086aef59090488326"
+      }
+    },
+    {
+      "relative_path": "payloads/Robot/none.usda",
+      "size": 147,
+      "hash": {
+        "sha256-flat-1mb": "1ab9760654ab710763793529bc6243eed9987ab3b3b0a3ab0bf0fb8855f5bbb2",
+        "sha256": "cda14b6bd38510a9337bc5a224af6ca474b4a1a328b980af413f5794ee692385"
+      }
+    },
+    {
+      "relative_path": "payloads/Robot/robot.usda",
+      "size": 5103,
+      "hash": {
+        "sha256-flat-1mb": "562fbf66534b019a1bfd65325e7397aea708c559a2b939ae8b0100d7b8fc4b0e",
+        "sha256": "30a8b9f599b28713adb6807f8328dc12edfdb7441f71fd4997c0ed6ba64eafda"
+      }
+    },
+    {
+      "relative_path": "payloads/Sensor/none.usda",
+      "size": 147,
+      "hash": {
+        "sha256-flat-1mb": "1ab9760654ab710763793529bc6243eed9987ab3b3b0a3ab0bf0fb8855f5bbb2",
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robotstudio_so101_new_calib/.metadata/com.nvidia.simready.root_usds.json

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+{
+  "format_version": "1.0",
+  "entries": [
+    "so101_new_calib.usda"
+  ]
+}

robotstudio_so101_new_calib/.metadata/license.txt

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robotstudio_so101_new_calib/.simready/validation.json

@@ -0,0 +1,223 @@
+{
+  "SimReady_Metadata": {
+    "validation": {
+      "profile": "Robot-Body",
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+          },
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+            "dependencies": "[]",
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+            "version": "0-1-0"
+          },
+          "FET022_DrivenJoints.Isaac.0-2-0": {
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+            "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']",
+            "passed": true,
+            "version": "0-2-0"
+          },
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+            "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET022_DrivenJoints.OpenUSD.0-2-0": {
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+            "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET022_DrivenJoints.PhysX.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET004_Multibody.PhysX.0-4-0']",
+            "passed": true,
+            "version": "0-2-0"
+          }
+        }
+      }
+    }
+  }
+}

robotstudio_so101_new_calib/.thumbs/256x256/.so101_new_calib.usda.last_generated

@@ -0,0 +1 @@
+2026-08-11 03:41:02