Add 137 Robot-Body SimReady packages

.gitattributes

@@ -58,3 +58,196 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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addverb_syncro10/.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": "2026-10-23T23:03:43",
+  "assets": [
+    {
+      "asset": "Syncro10.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"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

addverb_syncro10/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,198 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": ".simready/validation.json",
+      "size": 7545,
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addverb_syncro10/.metadata/com.nvidia.simready.root_usds.json

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+{
+  "format_version": "1.0",
+  "entries": [
+    "Syncro10.usda"
+  ]
+}

addverb_syncro10/.metadata/license.txt

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+
+  a. For the avoidance of doubt, this Public License does not, and
+     shall not be interpreted to, reduce, limit, restrict, or impose
+     conditions on any use of the Licensed Material that could lawfully
+     be made without permission under this Public License.
+
+  b. To the extent possible, if any provision of this Public License is
+     deemed unenforceable, it shall be automatically reformed to the
+     minimum extent necessary to make it enforceable. If the provision
+     cannot be reformed, it shall be severed from this Public License
+     without affecting the enforceability of the remaining terms and
+     conditions.
+
+  c. No term or condition of this Public License will be waived and no
+     failure to comply consented to unless expressly agreed to by the
+     Licensor.
+
+  d. Nothing in this Public License constitutes or may be interpreted
+     as a limitation upon, or waiver of, any privileges and immunities
+     that apply to the Licensor or You, including from the legal
+     processes of any jurisdiction or authority.
+
+
+=======================================================================
+
+Creative Commons is not a party to its public
+licenses. Notwithstanding, Creative Commons may elect to apply one of
+its public licenses to material it publishes and in those instances
+will be considered the “Licensor.” The text of the Creative Commons
+public licenses is dedicated to the public domain under the CC0 Public
+Domain Dedication. Except for the limited purpose of indicating that
+material is shared under a Creative Commons public license or as
+otherwise permitted by the Creative Commons policies published at
+creativecommons.org/policies, Creative Commons does not authorize the
+use of the trademark "Creative Commons" or any other trademark or logo
+of Creative Commons without its prior written consent including,
+without limitation, in connection with any unauthorized modifications
+to any of its public licenses or any other arrangements,
+understandings, or agreements concerning use of licensed material. For
+the avoidance of doubt, this paragraph does not form part of the
+public licenses.
+
+Creative Commons may be contacted at creativecommons.org.
+

addverb_syncro10/.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"
+          }
+        }
+      }
+    }
+  }
+}

addverb_syncro10/.thumbs/256x256/.Syncro10.usda.last_generated

@@ -0,0 +1 @@
+2026-08-11 03:25:00

addverb_syncro10/Syncro10.usda

@@ -0,0 +1,400 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/Syncro10"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/Syncro10"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/Syncro10"
+                        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 = (0.44521984, 0.85543865, 0.9645007)
+        string asset_license = "CC-BY-4.0"
+        string asset_name = "Syncro10"
+        string asset_type = "robot"
+        string author = "Addverb"
+        string category = "robotic arm"
+        double mass = 34.00879203528166
+        string qcode = "Q40687"
+        int rigid_body_count = 7
+        string source_file = "Addverb/Syncro10/Syncro10.usda"
+        string usd_date_generated = "2026-10-02"
+    }
+    defaultPrim = "Syncro10"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "Syncro10" (
+    kind = "component"
+    prepend references = [
+        @./payloads/Physics/physics.usda@,
+        @./payloads/base.usda@
+    ]
+    variants = {
+        string MuJoCo = "Disabled"
+        string Newton = "Disabled"
+        string PhysX = "Disabled"
+    }
+    prepend variantSets = ["PhysX", "Newton", "MuJoCo"]
+)
+{
+    prepend rel isaac:physics:robotJoints = [
+        </Syncro10/__fixed_base_joint>,
+        </Syncro10/Physics/joint1>,
+        </Syncro10/Physics/root_joint>,
+        </Syncro10/Physics/joint2>,
+        </Syncro10/Physics/joint3>,
+        </Syncro10/Physics/joint4>,
+        </Syncro10/Physics/joint5>,
+        </Syncro10/Physics/joint6>,
+    ]
+    color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] (
+        interpolation = "constant"
+    )
+
+    over "Geometry"
+    {
+        over "base_link"
+        {
+            over "L1"
+            {
+                over "L2"
+                {
+                    over "L3"
+                    {
+                        over "L4"
+                        {
+                            over "L5"
+                            {
+                                over "L6"
+                                {
+                                    over "L6_1"
+                                    {
+                                        over "L6"
+                                        {
+                                            token visibility = "invisible"
+                                        }
+                                    }
+                                }
+
+                                over "L5_1"
+                                {
+                                    over "L5"
+                                    {
+                                        token visibility = "invisible"
+                                    }
+                                }
+                            }
+
+                            over "L4_1"
+                            {
+                                over "L4"
+                                {
+                                    token visibility = "invisible"
+                                }
+                            }
+                        }
+
+                        over "L3_1"
+                        {
+                            over "L3"
+                            {
+                                token visibility = "invisible"
+                            }
+                        }
+                    }
+
+                    over "L2_1"
+                    {
+                        over "L2"
+                        {
+                            token visibility = "invisible"
+                        }
+                    }
+                }
+
+                over "L1_1"
+                {
+                    over "L1"
+                    {
+                        token visibility = "invisible"
+                    }
+                }
+            }
+
+            over "Base_Link_1"
+            {
+                over "Base_Link"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+    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@
+        ) {
+
+        }
+    }
+}
+

addverb_syncro10/com.nvidia.simready.packaging.json

@@ -0,0 +1,37 @@
+{
+  "format_version": "1.0",
+  "package_id": "addverb_syncro10.1.0.0",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "f9550ee607d4abd44ab73d8977aff6252bfb47862ddfa5f3930ac4272440d1aa"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "e3495db4ab403870d9ab664d50da6d63df19a8135fe815541c12347b1f7fd6e6"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "10fb716f3d1281548944d8139904e2b2db2998c54c7b4fb84eb1ce89a16d3981"
+      }
+    },
+    {
+      "name": "license.txt",
+      "hash": {
+        "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "ad1ca47e248f4c524b09ddc76582c2f57e48d890297c92a6774de09489945f4e"
+  },
+  "package_hash": {
+    "sha256": "87db38403a1e10aca1ee626d0ec004b8733ea23718dae1a00c566b0c3830c086"
+  }
+}

addverb_syncro10/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 

addverb_syncro10/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
+);

addverb_syncro10/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
+);

addverb_syncro10/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
+);

addverb_syncro10/payloads/Physics/mujoco.usda

@@ -0,0 +1,195 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Syncro10"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+over "Syncro10"
+{
+    over "Physics"
+    {
+        def MjcActuator "joint1_actuator"
+        {
+            uniform double mjc:forceRange:max = 281
+            uniform double mjc:forceRange:min = -281
+            custom rel mjc:target
+            prepend rel mjc:target = </Syncro10/Physics/joint1>
+        }
+
+        def MjcActuator "joint2_actuator"
+        {
+            uniform double mjc:forceRange:max = 281
+            uniform double mjc:forceRange:min = -281
+            custom rel mjc:target
+            prepend rel mjc:target = </Syncro10/Physics/joint2>
+        }
+
+        def MjcActuator "joint3_actuator"
+        {
+            uniform double mjc:forceRange:max = 281
+            uniform double mjc:forceRange:min = -281
+            custom rel mjc:target
+            prepend rel mjc:target = </Syncro10/Physics/joint3>
+        }
+
+        def MjcActuator "joint4_actuator"
+        {
+            uniform double mjc:forceRange:max = 51
+            uniform double mjc:forceRange:min = -51
+            custom rel mjc:target
+            prepend rel mjc:target = </Syncro10/Physics/joint4>
+        }
+
+        def MjcActuator "joint5_actuator"
+        {
+            uniform double mjc:forceRange:max = 51
+            uniform double mjc:forceRange:min = -51
+            custom rel mjc:target
+            prepend rel mjc:target = </Syncro10/Physics/joint5>
+        }
+
+        def MjcActuator "joint6_actuator"
+        {
+            uniform double mjc:forceRange:max = 51
+            uniform double mjc:forceRange:min = -51
+            custom rel mjc:target
+            prepend rel mjc:target = </Syncro10/Physics/joint6>
+        }
+
+        over "joint1" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "root_joint"
+        {
+        }
+
+        over "joint2" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "joint3" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "joint4" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "joint5" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "joint6" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "base_link"
+        {
+            over "L1"
+            {
+                over "L2"
+                {
+                    over "L3"
+                    {
+                        over "L4"
+                        {
+                            over "L5"
+                            {
+                                over "L6"
+                                {
+                                    over "L6"
+                                    {
+                                    }
+
+                                    over "L6_1"
+                                    {
+                                    }
+                                }
+
+                                over "L5"
+                                {
+                                }
+
+                                over "L5_1"
+                                {
+                                }
+                            }
+
+                            over "L4"
+                            {
+                            }
+
+                            over "L4_1"
+                            {
+                            }
+                        }
+
+                        over "L3"
+                        {
+                        }
+
+                        over "L3_1"
+                        {
+                        }
+                    }
+
+                    over "L2"
+                    {
+                    }
+
+                    over "L2_1"
+                    {
+                    }
+                }
+
+                over "L1"
+                {
+                }
+
+                over "L1_1"
+                {
+                }
+            }
+
+            over "Base_Link"
+            {
+            }
+
+            over "Base_Link_1"
+            {
+            }
+        }
+    }
+
+    over "Materials"
+    {
+    }
+
+    over "VisualMaterials"
+    {
+    }
+}
+

addverb_syncro10/payloads/Physics/none.usda

@@ -0,0 +1,14 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Syncro10"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def "Syncro10"
+{
+}
+

addverb_syncro10/payloads/Physics/physics.usda

@@ -0,0 +1,323 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Syncro10"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def "Syncro10"
+{
+    over "Geometry"
+    {
+        over "base_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI", "PhysicsMassAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (-0.00093397, 0.00010339, 0.03773707)
+            float3 physics:diagonalInertia = (0.016257536, 0.016604537, 0.027930068)
+            float physics:mass = 2.9852898
+            quatf physics:principalAxes = (0.004888042, 0.69423825, 0.7197079, -0.005468231)
+
+            over "L1" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                point3f physics:centerOfMass = (-0.00578505, -0.00003049, 0.08985024)
+                float3 physics:diagonalInertia = (0.045816686, 0.06347228, 0.06560732)
+                float physics:mass = 10.509242
+                quatf physics:principalAxes = (0.8470112, -0.0020263395, 0.53156877, -0.0016136612)
+
+                over "L2" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                )
+                {
+                    point3f physics:centerOfMass = (-0.10942331, -0.00007045, 0.09413353)
+                    float3 physics:diagonalInertia = (0.04797454, 0.46338925, 0.47041312)
+                    float physics:mass = 11.240278
+                    quatf physics:principalAxes = (-0.7052453, 0.70574516, -0.047660932, 0.04776235)
+
+                    over "L3" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                    )
+                    {
+                        point3f physics:centerOfMass = (-0.00003389, -0.0365401, 0.09530621)
+                        float3 physics:diagonalInertia = (0.010251237, 0.03283711, 0.03469457)
+                        float physics:mass = 5.3853383
+                        quatf physics:principalAxes = (-0.29266188, 0.64365166, 0.290087, 0.6449117)
+
+                        over "L4" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                        )
+                        {
+                            point3f physics:centerOfMass = (-0.0013724, -0.00000488, 0.4070513)
+                            float3 physics:diagonalInertia = (0.007534823, 0.10876683, 0.111313336)
+                            float physics:mass = 3.1907141
+                            quatf physics:principalAxes = (0.5179821, 0.5171662, 0.4821457, 0.48142412)
+
+                            over "L5" (
+                                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                            )
+                            {
+                                point3f physics:centerOfMass = (-0.02732671, -0.00000292, 0.05749582)
+                                float3 physics:diagonalInertia = (0.0012551211, 0.0021900688, 0.00225687)
+                                float physics:mass = 0.5915222
+                                quatf physics:principalAxes = (0.6729314, -0.6725486, 0.21780618, -0.21772039)
+
+                                over "L6" (
+                                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                                )
+                                {
+                                    point3f physics:centerOfMass = (0, 0, 0.0076246)
+                                    float3 physics:diagonalInertia = (0.00007352, 0.00007352, 0.00013846)
+                                    float physics:mass = 0.10640728
+                                    quatf physics:principalAxes = (1, 0, 0, 0)
+
+                                    over "L6_1" (
+                                        instanceable = false
+                                    )
+                                    {
+                                        over "L6" (
+                                            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                                        )
+                                        {
+                                        }
+                                    }
+                                }
+
+                                over "L5_1" (
+                                    instanceable = false
+                                )
+                                {
+                                    over "L5" (
+                                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                                    )
+                                    {
+                                    }
+                                }
+                            }
+
+                            over "L4_1" (
+                                instanceable = false
+                            )
+                            {
+                                over "L4" (
+                                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                                )
+                                {
+                                }
+                            }
+                        }
+
+                        over "L3_1" (
+                            instanceable = false
+                        )
+                        {
+                            over "L3" (
+                                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                            )
+                            {
+                            }
+                        }
+                    }
+
+                    over "L2_1" (
+                        instanceable = false
+                    )
+                    {
+                        over "L2" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+
+                over "L1_1" (
+                    instanceable = false
+                )
+                {
+                    over "L1" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                    }
+                }
+            }
+
+            over "Base_Link_1" (
+                instanceable = false
+            )
+            {
+                over "Base_Link" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        def PhysicsRevoluteJoint "joint1" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 800
+            float drive:angular:physics:maxForce = 281
+            float drive:angular:physics:stiffness = 8000
+            bool[] isaac:actuator
+            string isaac:NameOverride
+            token[] isaac:physics:DofOffsetOpOrder
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </Syncro10/Geometry/base_link>
+            custom rel physics:body1 = </Syncro10/Geometry/base_link/L1>
+            point3f physics:localPos0 = (0, 0, 0.0822)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 281
+            custom float urdf:limit:velocity = 50
+        }
+
+        def PhysicsRevoluteJoint "joint2" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 800
+            float drive:angular:physics:maxForce = 281
+            float drive:angular:physics:stiffness = 8000
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </Syncro10/Geometry/base_link/L1>
+            custom rel physics:body1 = </Syncro10/Geometry/base_link/L1/L2>
+            point3f physics:localPos0 = (-0.1062, 0, 0.1993)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1.1714554e-15, 0.70710677, 1.135628e-15, -0.70710677)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 281
+            custom float urdf:limit:velocity = 50
+        }
+
+        def PhysicsRevoluteJoint "joint3" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 800
+            float drive:angular:physics:maxForce = 281
+            float drive:angular:physics:stiffness = 8000
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </Syncro10/Geometry/base_link/L1/L2>
+            custom rel physics:body1 = </Syncro10/Geometry/base_link/L1/L2/L3>
+            point3f physics:localPos0 = (-0.6120007, 4.9303807e-32, 0.0583)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (-2.220446e-16, -1.6436383e-15, 1, 1.6190702e-15)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 281
+            custom float urdf:limit:velocity = 50
+        }
+
+        def PhysicsRevoluteJoint "joint4" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 60
+            float drive:angular:physics:maxForce = 51
+            float drive:angular:physics:stiffness = 600
+            bool[] isaac:actuator
+            string isaac:NameOverride
+            token[] isaac:physics:DofOffsetOpOrder
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </Syncro10/Geometry/base_link/L1/L2/L3>
+            custom rel physics:body1 = </Syncro10/Geometry/base_link/L1/L2/L3/L4>
+            point3f physics:localPos0 = (-1.110223e-16, -0.1498, 0.1515)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.5, -0.5, -0.5, -0.5)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 51
+            custom float urdf:limit:velocity = 50
+        }
+
+        def PhysicsRevoluteJoint "joint5" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 60
+            float drive:angular:physics:maxForce = 51
+            float drive:angular:physics:stiffness = 600
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </Syncro10/Geometry/base_link/L1/L2/L3/L4>
+            custom rel physics:body1 = </Syncro10/Geometry/base_link/L1/L2/L3/L4/L5>
+            point3f physics:localPos0 = (-0.0663, 0, 0.5352)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.5, -0.5, 0.5, -0.5)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 51
+            custom float urdf:limit:velocity = 50
+        }
+
+        def PhysicsRevoluteJoint "joint6" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 60
+            float drive:angular:physics:maxForce = 51
+            float drive:angular:physics:stiffness = 600
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </Syncro10/Geometry/base_link/L1/L2/L3/L4/L5>
+            custom rel physics:body1 = </Syncro10/Geometry/base_link/L1/L2/L3/L4/L5/L6>
+            point3f physics:localPos0 = (-0.0998, 1.110223e-16, 0.082218)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (-0.70710546, -0.0000025973434, -0.7071081, 0.000002597353)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 51
+            custom float urdf:limit:velocity = 50
+        }
+
+        def PhysicsFixedJoint "root_joint"
+        {
+            custom rel physics:body0 = </Syncro10>
+            custom rel physics:body1 = </Syncro10/Geometry/base_link>
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+    }
+
+    def PhysicsFixedJoint "__fixed_base_joint"
+    {
+        rel physics:body1 = </Syncro10/Geometry/base_link>
+        point3f physics:localPos0 = (0, 0, 0)
+        point3f physics:localPos1 = (0, 0, 0)
+        quatf physics:localRot0 = (1, 0, 0, 0)
+        quatf physics:localRot1 = (1, 0, 0, 0)
+    }
+}
+

addverb_syncro10/payloads/Physics/physx.usda

@@ -0,0 +1,71 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Syncro10"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+def "Syncro10"
+{
+    over "Physics"
+    {
+        over "joint1" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 2864.789
+        }
+
+        over "joint2" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 2864.789
+        }
+
+        over "joint3" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 2864.789
+        }
+
+        over "joint4" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 2864.789
+        }
+
+        over "joint5" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 2864.789
+        }
+
+        over "joint6" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 2864.789
+        }
+    }
+
+    over "Geometry"
+    {
+        over "base_link" (
+            prepend apiSchemas = ["PhysxArticulationAPI"]
+        )
+        {
+            bool physxArticulation:enabledSelfCollisions = 1
+        }
+    }
+}
+

addverb_syncro10/payloads/base.usda

@@ -0,0 +1,195 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Syncro10"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./robot.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "Syncro10" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "Syncro10"
+    }
+    kind = "component"
+)
+{
+    float3[] extentsHint = [(-0.32616103, -0.119992524, -0.003000001), (0.11905881, 0.73544616, 0.9615007), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.32616103, -0.119992524, -0.003000001), (0.11905881, 0.73544616, 0.9615007)]
+
+    def Scope "Physics"
+    {
+    }
+
+    def Scope "Geometry"
+    {
+        def Xform "base_link"
+        {
+            def Xform "L1"
+            {
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0.0822)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "L2"
+                {
+                    quatf xformOp:orient = (1.1714554e-15, 0.70710677, 1.1389953e-15, -0.70710677)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (-0.10620000000003, 0, 0.199300000045049)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Xform "L3"
+                    {
+                        quatf xformOp:orient = (-1.6081226e-16, -1.6155446e-15, 1, 1.6155446e-15)
+                        float3 xformOp:scale = (1, 1, 1)
+                        double3 xformOp:translate = (-0.612000720877715, 0, 0.0583000000450178)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                        def Xform "L4"
+                        {
+                            quatf xformOp:orient = (-0.5, -0.5, 0.5, -0.5)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0, -0.14980000000989, 0.151499999995069)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                            def Xform "L5"
+                            {
+                                quatf xformOp:orient = (-0.5, -0.5, 0.5, 0.5)
+                                float3 xformOp:scale = (1, 1, 1)
+                                double3 xformOp:translate = (-0.0662999999973479, 0, 0.535199999992143)
+                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                                def Xform "L6"
+                                {
+                                    quatf xformOp:orient = (0.0000025973434, -0.70710546, 0.000002597353, 0.7071081)
+                                    float3 xformOp:scale = (1, 1, 1)
+                                    double3 xformOp:translate = (-0.0998, 0, 0.082218)
+                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                                    def Xform "L6" (
+                                        instanceable = true
+                                        prepend references = @./instances.usda@</Instances/L6>
+                                    )
+                                    {
+                                    }
+
+                                    def Xform "L6_1" (
+                                        displayName = "L6"
+                                        instanceable = true
+                                        prepend references = @./instances.usda@</Instances/L6_1>
+                                    )
+                                    {
+                                    }
+                                }
+
+                                def Xform "L5" (
+                                    instanceable = true
+                                    prepend references = @./instances.usda@</Instances/L5>
+                                )
+                                {
+                                }
+
+                                def Xform "L5_1" (
+                                    displayName = "L5"
+                                    instanceable = true
+                                    prepend references = @./instances.usda@</Instances/L5_1>
+                                )
+                                {
+                                }
+                            }
+
+                            def Xform "L4" (
+                                instanceable = true
+                                prepend references = @./instances.usda@</Instances/L4>
+                            )
+                            {
+                            }
+
+                            def Xform "L4_1" (
+                                displayName = "L4"
+                                instanceable = true
+                                prepend references = @./instances.usda@</Instances/L4_1>
+                            )
+                            {
+                            }
+                        }
+
+                        def Xform "L3" (
+                            instanceable = true
+                            prepend references = @./instances.usda@</Instances/L3>
+                        )
+                        {
+                        }
+
+                        def Xform "L3_1" (
+                            displayName = "L3"
+                            instanceable = true
+                            prepend references = @./instances.usda@</Instances/L3_1>
+                        )
+                        {
+                        }
+                    }
+
+                    def Xform "L2" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/L2>
+                    )
+                    {
+                    }
+
+                    def Xform "L2_1" (
+                        displayName = "L2"
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/L2_1>
+                    )
+                    {
+                    }
+                }
+
+                def Xform "L1" (
+                    instanceable = true
+                    prepend references = @./instances.usda@</Instances/L1>
+                )
+                {
+                }
+
+                def Xform "L1_1" (
+                    displayName = "L1"
+                    instanceable = true
+                    prepend references = @./instances.usda@</Instances/L1_1>
+                )
+                {
+                }
+            }
+
+            def Xform "Base_Link" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/Base_Link>
+            )
+            {
+            }
+
+            def Xform "Base_Link_1" (
+                displayName = "Base_Link"
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/Base_Link_1>
+            )
+            {
+            }
+        }
+    }
+
+    def Scope "Materials"
+    {
+    }
+
+    def Scope "VisualMaterials"
+    {
+    }
+}
+

addverb_syncro10/payloads/geometries.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e81e7fa8836403ee91ab1b462cd5e8838cba9c021d906ffdd4ce1d39f7c1db1
+size 10702356

addverb_syncro10/payloads/instances.usda

@@ -0,0 +1,257 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Instances"
+{
+    def Xform "L6" (
+        prepend references = @./geometries.usd@</Geometries/L6>
+    )
+    {
+        over "L6" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/L6/VisualMaterials/material_7>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "material_7" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/material_7>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "L6_1" (
+        prepend references = @./geometries.usd@</Geometries/L6>
+    )
+    {
+        over "L6" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            token purpose = "guide"
+        }
+    }
+
+    def Xform "L5" (
+        prepend references = @./geometries.usd@</Geometries/L5>
+    )
+    {
+        over "L5" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/L5/VisualMaterials/material_6>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "material_6" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/material_6>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "L5_1" (
+        prepend references = @./geometries.usd@</Geometries/L5>
+    )
+    {
+        over "L5" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            token purpose = "guide"
+        }
+    }
+
+    def Xform "L4" (
+        prepend references = @./geometries.usd@</Geometries/L4>
+    )
+    {
+        over "L4" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/L4/VisualMaterials/material_5>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "material_5" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/material_6>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "L4_1" (
+        prepend references = @./geometries.usd@</Geometries/L4>
+    )
+    {
+        over "L4" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            token purpose = "guide"
+        }
+    }
+
+    def Xform "L3" (
+        prepend references = @./geometries.usd@</Geometries/L3>
+    )
+    {
+        over "L3" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/L3/VisualMaterials/material_4>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "material_4" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/material_6>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "L3_1" (
+        prepend references = @./geometries.usd@</Geometries/L3>
+    )
+    {
+        over "L3" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            token purpose = "guide"
+        }
+    }
+
+    def Xform "L2" (
+        prepend references = @./geometries.usd@</Geometries/L2>
+    )
+    {
+        over "L2" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/L2/VisualMaterials/material_3>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "material_3" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/material_6>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "L2_1" (
+        prepend references = @./geometries.usd@</Geometries/L2>
+    )
+    {
+        over "L2" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            token purpose = "guide"
+        }
+    }
+
+    def Xform "L1" (
+        prepend references = @./geometries.usd@</Geometries/L1>
+    )
+    {
+        over "L1" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/L1/VisualMaterials/material_2>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "material_2" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/material_6>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "L1_1" (
+        prepend references = @./geometries.usd@</Geometries/L1>
+    )
+    {
+        over "L1" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            token purpose = "guide"
+        }
+    }
+
+    def Xform "Base_Link" (
+        prepend references = @./geometries.usd@</Geometries/Base_Link>
+    )
+    {
+        over "Base_Link" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/Base_Link/VisualMaterials/material_1>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "material_1" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/material_6>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "Base_Link_1" (
+        prepend references = @./geometries.usd@</Geometries/Base_Link>
+    )
+    {
+        over "Base_Link" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            token purpose = "guide"
+        }
+    }
+}
+

addverb_syncro10/payloads/materials.usda

@@ -0,0 +1,124 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Materials"
+{
+    def Material "material_7"
+    {
+        color3f inputs:diffuseColor = (0.31854683, 0.31854683, 0.2956998)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        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:displacement.connect = </Materials/material_7/PreviewSurface.outputs:displacement>
+        token outputs:mdl:surface.connect = </Materials/material_7/AgentfixMdlSurface.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/material_7/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/material_7/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/material_7.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/material_7.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/material_7.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/material_7.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "AgentfixMdlSurface"
+        {
+            uniform token info:implementationSource = "sourceAsset"
+            uniform asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (0.5, 0.5, 0.5)
+            token outputs:out
+        }
+
+        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_6"
+    {
+        color3f inputs:diffuseColor = (0.95510465, 0.95510465, 0.827571)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        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:displacement.connect = </Materials/material_6/PreviewSurface.outputs:displacement>
+        token outputs:mdl:surface.connect = </Materials/material_6/AgentfixMdlSurface.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/material_6/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/material_6/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/material_6.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/material_6.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/material_6.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/material_6.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "AgentfixMdlSurface"
+        {
+            uniform token info:implementationSource = "sourceAsset"
+            uniform asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (0.5, 0.5, 0.5)
+            token outputs:out
+        }
+
+        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
+        }
+    }
+}
+

addverb_syncro10/payloads/robot.usda

@@ -0,0 +1,143 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Syncro10"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "Syncro10" (
+    prepend apiSchemas = ["IsaacRobotAPI", "IsaacLinkAPI"]
+)
+{
+    prepend rel isaac:physics:robotJoints = [
+        </Syncro10/Physics/joint1>,
+        </Syncro10/Physics/root_joint>,
+        </Syncro10/Physics/joint2>,
+        </Syncro10/Physics/joint3>,
+        </Syncro10/Physics/joint4>,
+        </Syncro10/Physics/joint5>,
+        </Syncro10/Physics/joint6>,
+    ]
+    prepend rel isaac:physics:robotLinks = [
+        </Syncro10/Geometry/base_link>,
+        </Syncro10/Geometry/base_link/L1>,
+        </Syncro10/Geometry/base_link/L1/L2>,
+        </Syncro10/Geometry/base_link/L1/L2/L3>,
+        </Syncro10/Geometry/base_link/L1/L2/L3/L4>,
+        </Syncro10/Geometry/base_link/L1/L2/L3/L4/L5>,
+        </Syncro10/Geometry/base_link/L1/L2/L3/L4/L5/L6>,
+    ]
+    token isaac:robotType = "Manipulator"
+
+    over "Physics"
+    {
+        over "joint1" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            bool[] isaac:actuator (
+                displayName = "Actuator"
+            )
+            string isaac:NameOverride (
+                displayName = "Joint Name Override"
+            )
+            token[] isaac:physics:DofOffsetOpOrder (
+                displayName = "Dof Offset Op Order"
+            )
+        }
+
+        over "root_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "joint2" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "joint3" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "joint4" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            bool[] isaac:actuator (
+                displayName = "Actuator"
+            )
+            string isaac:NameOverride (
+                displayName = "Joint Name Override"
+            )
+            token[] isaac:physics:DofOffsetOpOrder (
+                displayName = "Dof Offset Op Order"
+            )
+        }
+
+        over "joint5" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "joint6" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "base_link" (
+            prepend apiSchemas = ["IsaacLinkAPI"]
+        )
+        {
+            over "L1" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "L2" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "L3" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                        over "L4" (
+                            prepend apiSchemas = ["IsaacLinkAPI"]
+                        )
+                        {
+                            over "L5" (
+                                prepend apiSchemas = ["IsaacLinkAPI"]
+                            )
+                            {
+                                over "L6" (
+                                    prepend apiSchemas = ["IsaacLinkAPI"]
+                                )
+                                {
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+

addverb_syncro10/runnables/physics/mujoco.usda

@@ -0,0 +1,234 @@
+#usda 1.0
+(
+    defaultPrim = "Syncro10"
+)
+
+def "Syncro10"
+{
+    over "Geometry"
+    {
+        over "base_link"
+        {
+            over "L1"
+            {
+                over "L2"
+                {
+                    over "L3"
+                    {
+                        over "L4"
+                        {
+                            over "L5"
+                            {
+                                over "L6"
+                                {
+                                    over "L6_1"
+                                    {
+                                        over "L6" (
+                                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                                        )
+                                        {
+                                            uniform token physics:approximation = "convexHull"
+                                        }
+                                    }
+                                }
+
+                                over "L5_1"
+                                {
+                                    over "L5" (
+                                        prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                                    )
+                                    {
+                                        uniform token physics:approximation = "convexHull"
+                                    }
+                                }
+                            }
+
+                            over "L4_1"
+                            {
+                                over "L4" (
+                                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                                )
+                                {
+                                    uniform token physics:approximation = "convexHull"
+                                }
+                            }
+                        }
+
+                        over "L3_1"
+                        {
+                            over "L3" (
+                                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                            )
+                            {
+                                uniform token physics:approximation = "convexHull"
+                            }
+                        }
+                    }
+
+                    over "L2_1"
+                    {
+                        over "L2" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+
+                over "L1_1"
+                {
+                    over "L1" (
+                        prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+
+            over "Base_Link_1"
+            {
+                over "Base_Link" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        over "joint1" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "joint2" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "joint3" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "joint4" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "joint5" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "joint6" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+    }
+
+    def "MuJoCoActuators"
+    {
+        def MjcActuator "act_Syncro10_Physics_joint1" (
+            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, -458366.2361046586, -45836.62361046586]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 281
+            double mjc:forceRange:min = -281
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </Syncro10/Physics/joint1>
+        }
+
+        def MjcActuator "act_Syncro10_Physics_joint2" (
+            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, -458366.2361046586, -45836.62361046586]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 281
+            double mjc:forceRange:min = -281
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </Syncro10/Physics/joint2>
+        }
+
+        def MjcActuator "act_Syncro10_Physics_joint3" (
+            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, -458366.2361046586, -45836.62361046586]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 281
+            double mjc:forceRange:min = -281
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </Syncro10/Physics/joint3>
+        }
+
+        def MjcActuator "act_Syncro10_Physics_joint4" (
+            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, -34377.46770784939, -3437.746770784939]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 51
+            double mjc:forceRange:min = -51
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </Syncro10/Physics/joint4>
+        }
+
+        def MjcActuator "act_Syncro10_Physics_joint5" (
+            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, -34377.46770784939, -3437.746770784939]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 51
+            double mjc:forceRange:min = -51
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </Syncro10/Physics/joint5>
+        }
+
+        def MjcActuator "act_Syncro10_Physics_joint6" (
+            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, -34377.46770784939, -3437.746770784939]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 51
+            double mjc:forceRange:min = -51
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </Syncro10/Physics/joint6>
+        }
+    }
+}
+

addverb_syncro10/runnables/physics/newton.usda

@@ -0,0 +1,137 @@
+#usda 1.0
+(
+    defaultPrim = "Syncro10"
+)
+
+over "Syncro10"
+{
+    over "Geometry"
+    {
+        over "base_link" (
+            prepend apiSchemas = ["NewtonArticulationRootAPI"]
+        )
+        {
+            bool newton:selfCollisionEnabled = 0
+
+            over "L1"
+            {
+                over "L2"
+                {
+                    over "L3"
+                    {
+                        over "L4"
+                        {
+                            over "L5"
+                            {
+                                over "L6"
+                                {
+                                    over "L6_1"
+                                    {
+                                        over "L6" (
+                                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI"]
+                                        )
+                                        {
+                                        }
+                                    }
+                                }
+
+                                over "L5_1"
+                                {
+                                    over "L5" (
+                                        prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI"]
+                                    )
+                                    {
+                                    }
+                                }
+                            }
+
+                            over "L4_1"
+                            {
+                                over "L4" (
+                                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI"]
+                                )
+                                {
+                                }
+                            }
+                        }
+
+                        over "L3_1"
+                        {
+                            over "L3" (
+                                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI"]
+                            )
+                            {
+                            }
+                        }
+                    }
+
+                    over "L2_1"
+                    {
+                        over "L2" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+
+                over "L1_1"
+                {
+                    over "L1" (
+                        prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI"]
+                    )
+                    {
+                    }
+                }
+            }
+
+            over "Base_Link_1"
+            {
+                over "Base_Link" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        over "joint1"
+        {
+            float drive:angular:physics:damping = 30
+        }
+
+        over "joint2"
+        {
+            float drive:angular:physics:damping = 30
+        }
+
+        over "joint3"
+        {
+            float drive:angular:physics:damping = 30
+        }
+
+        over "joint4"
+        {
+            float drive:angular:physics:damping = 3
+        }
+
+        over "joint5"
+        {
+            float drive:angular:physics:damping = 3
+        }
+
+        over "joint6"
+        {
+            float drive:angular:physics:damping = 2
+        }
+
+        over "root_joint"
+        {
+            bool physics:jointEnabled = 0
+        }
+    }
+}
+

addverb_syncro10/runnables/physics/physx.usda

@@ -0,0 +1,156 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Syncro10"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "Syncro10"
+{
+    over "Physics"
+    {
+        over "joint1" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 2864.789
+        }
+
+        over "joint2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 2864.789
+        }
+
+        over "joint3" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 2864.789
+        }
+
+        over "joint4" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 2864.789
+        }
+
+        over "joint5" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 2864.789
+        }
+
+        over "joint6" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 2864.789
+        }
+    }
+
+    over "Geometry"
+    {
+        over "base_link" (
+            prepend apiSchemas = ["PhysxArticulationAPI"]
+        )
+        {
+            bool physxArticulation:enabledSelfCollisions = 0
+
+            over "L1"
+            {
+                over "L2"
+                {
+                    over "L3"
+                    {
+                        over "L4"
+                        {
+                            over "L5"
+                            {
+                                over "L6"
+                                {
+                                    over "L6_1"
+                                    {
+                                        over "L6" (
+                                            prepend apiSchemas = ["PhysxCollisionAPI"]
+                                        )
+                                        {
+                                            token physics:approximation = "convexHull"
+                                        }
+                                    }
+                                }
+
+                                over "L5_1"
+                                {
+                                    over "L5" (
+                                        prepend apiSchemas = ["PhysxCollisionAPI"]
+                                    )
+                                    {
+                                        token physics:approximation = "convexHull"
+                                    }
+                                }
+                            }
+
+                            over "L4_1"
+                            {
+                                over "L4" (
+                                    prepend apiSchemas = ["PhysxCollisionAPI"]
+                                )
+                                {
+                                    token physics:approximation = "convexHull"
+                                }
+                            }
+                        }
+
+                        over "L3_1"
+                        {
+                            over "L3" (
+                                prepend apiSchemas = ["PhysxCollisionAPI"]
+                            )
+                            {
+                                token physics:approximation = "convexHull"
+                            }
+                        }
+                    }
+
+                    over "L2_1"
+                    {
+                        over "L2" (
+                            prepend apiSchemas = ["PhysxCollisionAPI"]
+                        )
+                        {
+                            token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+
+                over "L1_1"
+                {
+                    over "L1" (
+                        prepend apiSchemas = ["PhysxCollisionAPI"]
+                    )
+                    {
+                        token physics:approximation = "convexHull"
+                    }
+                }
+            }
+
+            over "Base_Link_1"
+            {
+                over "Base_Link" (
+                    prepend apiSchemas = ["PhysxCollisionAPI"]
+                )
+                {
+                    token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+}
+

addverb_syncro5/.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": "2026-10-23T23:04:13",
+  "assets": [
+    {
+      "asset": "Syncro5.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"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

addverb_syncro5/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,198 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": ".simready/validation.json",
+      "size": 7545,
+      "hash": {
+        "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b",
+        "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56"
+      }
+    },
+    {
+      "relative_path": ".thumbs/256x256/.Syncro5.usda.last_generated",
+      "size": 19,
+      "hash": {
+        "sha256-flat-1mb": "66375bdd8917230155aa2363fa6a8dd3e4db7a5003fb6db2b2dbe86dc03c4747",
+        "sha256": "4452a049311b344e835416543b40e1d7eb95722eebf56f2f765a1842a788a414"
+      }
+    },
+    {
+      "relative_path": ".thumbs/256x256/Syncro5.usda.png",
+      "size": 37068,
+      "hash": {
+        "sha256-flat-1mb": "05ee4dc7aae171bd551fd6c0fb686fb65fe70e405bdf40fc6140a03df2b8c0e6",
+        "sha256": "2dd9f501c2fd545fe8c9cf964121e1b47ea5ddbfae8be246a50262d5eec3a83d"
+      }
+    },
+    {
+      "relative_path": ".thumbs/Syncro5.thumb.usd",
+      "size": 6128,
+      "hash": {
+        "sha256-flat-1mb": "c12c39b3ae08a374e206fb0224d93e68b9cffd9bd34ce43ef8a05862869bee50",
+        "sha256": "05bf84548aea96baab7eae14441ed46f4d2a7defe8155b89d498e7255852e9ed"
+      }
+    },
+    {
+      "relative_path": "Syncro5.usda",
+      "size": 16407,
+      "hash": {
+        "sha256-flat-1mb": "089564c096ae89909d5cb19e1985051a846b7100b47d9fde2ca98cb24fecd3a3",
+        "sha256": "8c02921cad8c5004d883d60c82a214b498f51db8a3c8fe4ffb4c8ab46cc8294f"
+      }
+    },
+    {
+      "relative_path": "materials/mdl/LICENSE.md",
+      "size": 3220,
+      "hash": {
+        "sha256-flat-1mb": "d54635995b7794c6549d0f7c70586e739c1e24cb671ce966e64a8c1a6703a452",
+        "sha256": "d62e1bd5e34d0ca6f92f0e9f10670ee0cd586695e20f0a838a8f859119589683"
+      }
+    },
+    {
+      "relative_path": "materials/mdl/OmniPBR.mdl",
+      "size": 13969,
+      "hash": {
+        "sha256-flat-1mb": "1c58f77068df165a71676dfde42a4b7e4932a82cacacfc7a205ae94fc0332aaf",
+        "sha256": "c902cc38dc97ff6a89fe94dca94edfb523a30e3749d3708610a136867c3357bf"
+      }
+    },
+    {
+      "relative_path": "materials/mdl/OmniPBRBase.mdl",
+      "size": 17274,
+      "hash": {
+        "sha256-flat-1mb": "4b54e7fb8bc92191512851b3acc6fc6fa9863f80d98ffece8f0cb9b99f5f4535",
+        "sha256": "701f37299b44106842bdbe025de52eedec391e35b038f61c4ed4d25bd98e7db1"
+      }
+    },
+    {
+      "relative_path": "materials/mdl/OmniPBR_ClearCoat.mdl",
+      "size": 27433,
+      "hash": {
+        "sha256-flat-1mb": "b1f146a3767a5012936e3d246f2697c3536c2f72b5c5963d3bca0998d02f8931",
+        "sha256": "085ba661b49042570e24cda09c939e5aebf312ae332af92744a99bd3abbfbee4"
+      }
+    },
+    {
+      "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": 4693,
+      "hash": {
+        "sha256-flat-1mb": "3bf6aa81462e1558e2f8525d999b56aa45722755b79d844f5db98b2221f6eb20",
+        "sha256": "2e935e579963f5b2b6da8c0361a7ded35e53cb4e546ce69c802f567d4101ad01"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/none.usda",
+      "size": 156,
+      "hash": {
+        "sha256-flat-1mb": "27e39e09f91acabc4499901c645b9cf1670ced6e3b58b24f562894d70e17619e",
+        "sha256": "611fffe2ad1788424c2c08ba5e06e0183464f5d41099ba8786d704ba38b2456f"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/physics.usda",
+      "size": 13305,
+      "hash": {
+        "sha256-flat-1mb": "4ceb142eabcaf017034e87c220f8f27a1a033a112434ffeb2e061b84141bb530",
+        "sha256": "e21e8071b35d49fb086b0eb46b227cdfaea7ac5692bf02f3adf4e7dc93bb6c54"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/physx.usda",
+      "size": 1422,
+      "hash": {
+        "sha256-flat-1mb": "418e3ede9de3922d478870a84b4a3acd093a84e9028590349c1496d694cb5383",
+        "sha256": "594dc66dd544b2cf90af3ade03c05d1fd8c064332c58306a20a0d3a54d58238f"
+      }
+    },
+    {
+      "relative_path": "payloads/base.usda",
+      "size": 7280,
+      "hash": {
+        "sha256-flat-1mb": "0ca3b74d495c7e0d9c3e75a7fa18770d8cd43f9b4ba861e31d46cdf4fa8fe716",
+        "sha256": "02bb123950a14d6b318ee66d5ecc48c9c98900e82a84334f9b27fd79610cc1d9"
+      }
+    },
+    {
+      "relative_path": "payloads/geometries.usd",
+      "size": 1485212,
+      "hash": {
+        "sha256-flat-1mb": "18bae9d7159e108698fd3fdeaf57cbea18f15b1a280c089a1eefd50c13886d68",
+        "sha256": "b3cd505297351cfb707e0d08fc423c85a1cd5193570bba607c467dd8de2bb6e3",
+        "sha256-first1m": "d5740be490dcc78cdb3d5f94f89f8e12c9e810ddde5bc1805c881ccd2e9d2337"
+      }
+    },
+    {
+      "relative_path": "payloads/instances.usda",
+      "size": 6365,
+      "hash": {
+        "sha256-flat-1mb": "0263c0405ce160cb16c842786112bc32f35c9db721df6ce6c3b1d9ba1492fcad",
+        "sha256": "af21105bdf9e345ae975efd50725cb4d26b4546c1d90a914434abba2b186daa1"
+      }
+    },
+    {
+      "relative_path": "payloads/materials.usda",
+      "size": 2556,
+      "hash": {
+        "sha256-flat-1mb": "be07f93f4fb1c47b80c2832e42507dbc1705f66564ee67047e6fa75ee257e5d6",
+        "sha256": "36efe9551c072c61de45e4c8124098e69023e3bfda941bdcae07d66b10de3f27"
+      }
+    },
+    {
+      "relative_path": "payloads/robot.usda",
+      "size": 3674,
+      "hash": {
+        "sha256-flat-1mb": "19921ebd9799ce7cae3f4930493a089722c4398e94c71953162834cccae3f5c0",
+        "sha256": "d6ddf66abf759e1e2d7ec3e908ce49a8212c9e817a515c819efde0d3caacb119"
+      }
+    },
+    {
+      "relative_path": "runnables/physics/mujoco.usda",
+      "size": 9047,
+      "hash": {
+        "sha256-flat-1mb": "b4eabb41ffd27cfae05ccae3153eae5b102cc36612a72705730c9a833e0bd46b",
+        "sha256": "90bd541224e6014b7d07084976b5bc2acf45071d06d60fecb076aaf5f18de9cc"
+      }
+    },
+    {
+      "relative_path": "runnables/physics/newton.usda",
+      "size": 3676,
+      "hash": {
+        "sha256-flat-1mb": "ecb26eaf1dd2fdc898267439f2261fdbaadee92bb0721c4e1f7cb8f31d384720",
+        "sha256": "e629ded43954604fdd2dcac624b6f159621a10f6280a8ba55bc3c38d4dd3eddf"
+      }
+    },
+    {
+      "relative_path": "runnables/physics/physx.usda",
+      "size": 4669,
+      "hash": {
+        "sha256-flat-1mb": "46ea69aefe19341bd0bc202814e3404e02ba8a351a42626ecdbaedc064c4913d",
+        "sha256": "67af44f32443ca975c04f57770abd790da145e8b9497231eb1ba14fb198600b7"
+      }
+    }
+  ]
+}

addverb_syncro5/.metadata/com.nvidia.simready.root_usds.json

@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "Syncro5.usda"
+  ]
+}

addverb_syncro5/.metadata/license.txt

@@ -0,0 +1,396 @@
+Attribution 4.0 International
+
+=======================================================================
+
+Creative Commons Corporation ("Creative Commons") is not a law firm and
+does not provide legal services or legal advice. Distribution of
+Creative Commons public licenses does not create a lawyer-client or
+other relationship. Creative Commons makes its licenses and related
+information available on an "as-is" basis. Creative Commons gives no
+warranties regarding its licenses, any material licensed under their
+terms and conditions, or any related information. Creative Commons
+disclaims all liability for damages resulting from their use to the
+fullest extent possible.
+
+Using Creative Commons Public Licenses
+
+Creative Commons public licenses provide a standard set of terms and
+conditions that creators and other rights holders may use to share
+original works of authorship and other material subject to copyright
+and certain other rights specified in the public license below. The
+following considerations are for informational purposes only, are not
+exhaustive, and do not form part of our licenses.
+
+     Considerations for licensors: Our public licenses are
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+

addverb_syncro5/.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"
+          }
+        }
+      }
+    }
+  }
+}

addverb_syncro5/.thumbs/256x256/.Syncro5.usda.last_generated

@@ -0,0 +1 @@
+2026-08-11 03:25:03

addverb_syncro5/Syncro5.usda

@@ -0,0 +1,390 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/Syncro5"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/Syncro5"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/Syncro5"
+                        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 = (0.2362229, 0.51405895, 0.7002201)
+        string asset_license = "CC-BY-4.0"
+        string asset_name = "Syncro5"
+        string asset_type = "robot"
+        string author = "Addverb"
+        string category = "robotic arm"
+        double mass = 18.540945671498775
+        string qcode = "Q40687"
+        int rigid_body_count = 7
+        string source_file = "Addverb/Syncro5/Syncro5.usda"
+        string usd_date_generated = "2026-10-02"
+    }
+    defaultPrim = "Syncro5"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "Syncro5" (
+    kind = "component"
+    prepend references = [
+        @./payloads/Physics/physics.usda@,
+        @./payloads/base.usda@
+    ]
+    variants = {
+        string MuJoCo = "Disabled"
+        string Newton = "Disabled"
+        string PhysX = "Disabled"
+    }
+    prepend variantSets = ["PhysX", "Newton", "MuJoCo"]
+)
+{
+    color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] (
+        interpolation = "constant"
+    )
+
+    over "Geometry"
+    {
+        over "base_link"
+        {
+            over "link1"
+            {
+                over "link2"
+                {
+                    over "link3"
+                    {
+                        over "link4"
+                        {
+                            over "link5"
+                            {
+                                over "tool"
+                                {
+                                    over "end_effector_1"
+                                    {
+                                        over "end_effector"
+                                        {
+                                            token visibility = "invisible"
+                                        }
+                                    }
+                                }
+
+                                over "link5_1"
+                                {
+                                    over "link5"
+                                    {
+                                        token visibility = "invisible"
+                                    }
+                                }
+                            }
+
+                            over "link4_1"
+                            {
+                                over "link4"
+                                {
+                                    token visibility = "invisible"
+                                }
+                            }
+                        }
+
+                        over "link3_1"
+                        {
+                            over "link3"
+                            {
+                                token visibility = "invisible"
+                            }
+                        }
+                    }
+
+                    over "link2_1"
+                    {
+                        over "link2"
+                        {
+                            token visibility = "invisible"
+                        }
+                    }
+                }
+
+                over "link1_1"
+                {
+                    over "link1"
+                    {
+                        token visibility = "invisible"
+                    }
+                }
+            }
+
+            over "base_link_1"
+            {
+                over "base_link"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+    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@
+        ) {
+
+        }
+    }
+}
+

addverb_syncro5/com.nvidia.simready.packaging.json

@@ -0,0 +1,37 @@
+{
+  "format_version": "1.0",
+  "package_id": "addverb_syncro5.1.0.0",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "abf784443d34b32c9db598949c0148a46cc6a89cb6eea0c4e805cf9200c2ca02"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "c854cbfa5c44928546a2b5349c4007e765f4fb668dfa002491804bbdf08845fa"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "3921ed92440800cb6d568cbfaba80f5ad99512d9a9ac9ca8ea8454417a8e1f27"
+      }
+    },
+    {
+      "name": "license.txt",
+      "hash": {
+        "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "2cae9ce365ca38844bc85548ae5ed04cc77e256fcce6bf25ceb380e9fa474770"
+  },
+  "package_hash": {
+    "sha256": "09ef39099bb82105bc49fa35f18cfe247d68eeb0b0169f07d0a0c4498e91986f"
+  }
+}

addverb_syncro5/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 

addverb_syncro5/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
+);

addverb_syncro5/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
+);

addverb_syncro5/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
+);

addverb_syncro5/payloads/Physics/mujoco.usda

@@ -0,0 +1,195 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Syncro5"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+over "Syncro5"
+{
+    over "Physics"
+    {
+        def MjcActuator "joint1_actuator"
+        {
+            uniform double mjc:forceRange:max = 140
+            uniform double mjc:forceRange:min = -140
+            custom rel mjc:target
+            prepend rel mjc:target = </Syncro5/Physics/joint1>
+        }
+
+        def MjcActuator "joint2_actuator"
+        {
+            uniform double mjc:forceRange:max = 140
+            uniform double mjc:forceRange:min = -140
+            custom rel mjc:target
+            prepend rel mjc:target = </Syncro5/Physics/joint2>
+        }
+
+        def MjcActuator "joint3_actuator"
+        {
+            uniform double mjc:forceRange:max = 140
+            uniform double mjc:forceRange:min = -140
+            custom rel mjc:target
+            prepend rel mjc:target = </Syncro5/Physics/joint3>
+        }
+
+        def MjcActuator "joint4_actuator"
+        {
+            uniform double mjc:forceRange:max = 51
+            uniform double mjc:forceRange:min = -51
+            custom rel mjc:target
+            prepend rel mjc:target = </Syncro5/Physics/joint4>
+        }
+
+        def MjcActuator "joint5_actuator"
+        {
+            uniform double mjc:forceRange:max = 51
+            uniform double mjc:forceRange:min = -51
+            custom rel mjc:target
+            prepend rel mjc:target = </Syncro5/Physics/joint5>
+        }
+
+        def MjcActuator "joint6_actuator"
+        {
+            uniform double mjc:forceRange:max = 51
+            uniform double mjc:forceRange:min = -51
+            custom rel mjc:target
+            prepend rel mjc:target = </Syncro5/Physics/joint6>
+        }
+
+        over "joint1" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "root_joint"
+        {
+        }
+
+        over "joint2" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "joint3" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "joint4" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "joint5" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "joint6" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "base_link"
+        {
+            over "link1"
+            {
+                over "link2"
+                {
+                    over "link3"
+                    {
+                        over "link4"
+                        {
+                            over "link5"
+                            {
+                                over "tool"
+                                {
+                                    over "end_effector"
+                                    {
+                                    }
+
+                                    over "end_effector_1"
+                                    {
+                                    }
+                                }
+
+                                over "link5"
+                                {
+                                }
+
+                                over "link5_1"
+                                {
+                                }
+                            }
+
+                            over "link4"
+                            {
+                            }
+
+                            over "link4_1"
+                            {
+                            }
+                        }
+
+                        over "link3"
+                        {
+                        }
+
+                        over "link3_1"
+                        {
+                        }
+                    }
+
+                    over "link2"
+                    {
+                    }
+
+                    over "link2_1"
+                    {
+                    }
+                }
+
+                over "link1"
+                {
+                }
+
+                over "link1_1"
+                {
+                }
+            }
+
+            over "base_link"
+            {
+            }
+
+            over "base_link_1"
+            {
+            }
+        }
+    }
+
+    over "Materials"
+    {
+    }
+
+    over "VisualMaterials"
+    {
+    }
+}
+

addverb_syncro5/payloads/Physics/none.usda

@@ -0,0 +1,14 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Syncro5"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def "Syncro5"
+{
+}
+

addverb_syncro5/payloads/Physics/physics.usda

@@ -0,0 +1,310 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Syncro5"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "Syncro5"
+{
+    string isaac:nameOverride (
+        displayName = "Name Override"
+    )
+
+    over "Geometry"
+    {
+        over "base_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI", "PhysicsMassAPI"]
+        )
+        {
+            float physics:mass = 0.29485062 (
+                customData = {
+                    dictionary agentfix = {
+                        string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass"
+                        string massMethod = "CORE Artist Tools material shell estimate with source component masses retained"
+                    }
+                }
+            )
+
+            over "link1" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                point3f physics:centerOfMass = (0.01254, 0, 0.272)
+                float3 physics:diagonalInertia = (0.014587547, 0.04622239, 0.047389988)
+                float physics:mass = 7.919
+                quatf physics:principalAxes = (0.55068374, 0.5474927, 0.44686735, 0.44419444)
+
+                over "link2" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                )
+                {
+                    point3f physics:centerOfMass = (0.10537, 0, 0.14998)
+                    float3 physics:diagonalInertia = (0.001453259, 0.0155054275, 0.016383575)
+                    float physics:mass = 1.017
+                    quatf physics:principalAxes = (0.7070949, -0.00020949045, 0.70711863, 0.00020925856)
+
+                    over "link3" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                    )
+                    {
+                        point3f physics:centerOfMass = (0.01755, 0.03359, 0)
+                        float3 physics:diagonalInertia = (0.008958901, 0.022222642, 0.02330646)
+                        float physics:mass = 5.574
+                        quatf physics:principalAxes = (0.00024272576, 0.60914415, 0.79305875, -0.0010648912)
+
+                        over "link4" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                        )
+                        {
+                            point3f physics:centerOfMass = (0.05065, -0.1059, 0)
+                            float3 physics:diagonalInertia = (0.0020954593, 0.0038622126, 0.004130389)
+                            float physics:mass = 1.894
+                            quatf physics:principalAxes = (0.0015153983, 0.82625794, 0.56328535, -0.0022478928)
+
+                            over "link5" (
+                                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                            )
+                            {
+                                point3f physics:centerOfMass = (0.00216, -0.0036, -0.04603)
+                                float3 physics:diagonalInertia = (0.0017849255, 0.0024767346, 0.002554828)
+                                float physics:mass = 1.791
+                                quatf physics:principalAxes = (0.6979928, -0.3027942, 0.6443721, -0.07685246)
+
+                                over "tool" (
+                                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                                )
+                                {
+                                    point3f physics:centerOfMass = (0, 0, -0.0014)
+                                    float3 physics:diagonalInertia = (0.000028814, 0.000028814, 0.000057263)
+                                    float physics:mass = 0.051095
+                                    quatf physics:principalAxes = (1, 0, 0, 0)
+
+                                    over "end_effector_1" (
+                                        instanceable = false
+                                    )
+                                    {
+                                        over "end_effector" (
+                                            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                                        )
+                                        {
+                                        }
+                                    }
+                                }
+
+                                over "link5_1" (
+                                    instanceable = false
+                                )
+                                {
+                                    over "link5" (
+                                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                                    )
+                                    {
+                                    }
+                                }
+                            }
+
+                            over "link4_1" (
+                                instanceable = false
+                            )
+                            {
+                                over "link4" (
+                                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                                )
+                                {
+                                }
+                            }
+                        }
+
+                        over "link3_1" (
+                            instanceable = false
+                        )
+                        {
+                            over "link3" (
+                                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                            )
+                            {
+                            }
+                        }
+                    }
+
+                    over "link2_1" (
+                        instanceable = false
+                    )
+                    {
+                        over "link2" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+
+                over "link1_1" (
+                    instanceable = false
+                )
+                {
+                    over "link1" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                    }
+                }
+            }
+
+            over "base_link_1" (
+                instanceable = false
+            )
+            {
+                over "base_link" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        def PhysicsRevoluteJoint "joint1" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 400
+            float drive:angular:physics:maxForce = 140
+            float drive:angular:physics:stiffness = 4000
+            bool[] isaac:actuator
+            string isaac:NameOverride
+            token[] isaac:physics:DofOffsetOpOrder
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </Syncro5/Geometry/base_link>
+            custom rel physics:body1 = </Syncro5/Geometry/base_link/link1>
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            custom float urdf:limit:effort = 140
+            custom float urdf:limit:velocity = 50
+        }
+
+        def PhysicsRevoluteJoint "joint2" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 400
+            float drive:angular:physics:maxForce = 140
+            float drive:angular:physics:stiffness = 4000
+            uniform token physics:axis = "X"
+            custom rel physics:body0 = </Syncro5/Geometry/base_link/link1>
+            custom rel physics:body1 = </Syncro5/Geometry/base_link/link1/link2>
+            point3f physics:localPos0 = (0, 0, 0.336)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            custom float urdf:limit:effort = 140
+            custom float urdf:limit:velocity = 50
+        }
+
+        def PhysicsRevoluteJoint "joint3" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 400
+            float drive:angular:physics:maxForce = 140
+            float drive:angular:physics:stiffness = 4000
+            uniform token physics:axis = "X"
+            custom rel physics:body0 = </Syncro5/Geometry/base_link/link1/link2>
+            custom rel physics:body1 = </Syncro5/Geometry/base_link/link1/link2/link3>
+            point3f physics:localPos0 = (0, 0, 0.3)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, 0, -1, 0)
+            quatf physics:localRot1 = (0, 0, -1, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            custom float urdf:limit:effort = 140
+            custom float urdf:limit:velocity = 50
+        }
+
+        def PhysicsRevoluteJoint "joint4" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 30
+            float drive:angular:physics:maxForce = 51
+            float drive:angular:physics:stiffness = 300
+            bool[] isaac:actuator
+            string isaac:NameOverride
+            token[] isaac:physics:DofOffsetOpOrder
+            uniform token physics:axis = "Y"
+            custom rel physics:body0 = </Syncro5/Geometry/base_link/link1/link2/link3>
+            custom rel physics:body1 = </Syncro5/Geometry/base_link/link1/link2/link3/link4>
+            point3f physics:localPos0 = (0, 0.36971, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            custom float urdf:limit:effort = 51
+            custom float urdf:limit:velocity = 50
+        }
+
+        def PhysicsRevoluteJoint "joint5" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 30
+            float drive:angular:physics:maxForce = 51
+            float drive:angular:physics:stiffness = 300
+            uniform token physics:axis = "X"
+            custom rel physics:body0 = </Syncro5/Geometry/base_link/link1/link2/link3/link4>
+            custom rel physics:body1 = </Syncro5/Geometry/base_link/link1/link2/link3/link4/link5>
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.50000095, 0, 0, 0.86602485)
+            quatf physics:localRot1 = (0.50000095, 0, 0, 0.86602485)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            custom float urdf:limit:effort = 51
+            custom float urdf:limit:velocity = 50
+        }
+
+        def PhysicsRevoluteJoint "joint6" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 30
+            float drive:angular:physics:maxForce = 51
+            float drive:angular:physics:stiffness = 300
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </Syncro5/Geometry/base_link/link1/link2/link3/link4/link5>
+            custom rel physics:body1 = </Syncro5/Geometry/base_link/link1/link2/link3/link4/link5/tool>
+            point3f physics:localPos0 = (0.00095306, -0.0016507, -0.0975)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            custom float urdf:limit:effort = 51
+            custom float urdf:limit:velocity = 50
+        }
+
+        def PhysicsFixedJoint "root_joint"
+        {
+            custom rel physics:body0 = </Syncro5>
+            custom rel physics:body1 = </Syncro5/Geometry/base_link>
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+    }
+}
+