Add SimReady package: standardbots_thor

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

@@ -1,35 +0,0 @@
-{
-  "format_version": "1.0",
-  "profile": "Package-Candidate",
-  "profile_version": "1.0.0",
-  "timestamp": "2026-10-02T20:39:28",
-  "assets": [
-    {
-      "asset": "thor/standardbots_thor.usd",
-      "features": [
-        {
-          "FET031_PACKAGE_SELF_CONTAINED": {
-            "version": "0.1.0",
-            "passed": true,
-            "failing_requirements": [],
-            "dependencies": []
-          }
-        },
-        {
-          "FET033_SIMREADY_PACKAGING": {
-            "version": "0.1.0",
-            "passed": true,
-            "failing_requirements": [],
-            "dependencies": [
-              {
-                "FET031_PACKAGE_SELF_CONTAINED": {
-                  "version": "0.1.0"
-                }
-              }
-            ]
-          }
-        }
-      ]
-    }
-  ]
-}

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

@@ -2,13 +2,13 @@
   "format_version": "1.0",
   "profile": "Package",
   "profile_version": "1.0.0",
-  "timestamp": "2026-10-02T20:39:28",
+  "timestamp": "2026-10-07T17:45:42",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",
       "features": [
         {
-          "FET030_PACKAGING_CORE": {
+          "FET_030_STANDARD": {
             "version": "0.1.0",
             "passed": true,
             "failing_requirements": [],
@@ -16,13 +16,13 @@
           }
         },
         {
-          "FET032_PACKAGING_INTROSPECTION": {
+          "FET_032_STANDARD": {
             "version": "0.1.0",
             "passed": true,
             "failing_requirements": [],
             "dependencies": [
               {
-                "FET030_PACKAGING_CORE": {
+                "FET_030_STANDARD": {
                   "version": "0.1.0"
                 }
               }

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

@@ -3,18 +3,34 @@
   "items": [
     {
       "relative_path": "thor/.thumbs/256x256/standardbots_thor.usd.png",
-      "size": 29484,
+      "size": 11137,
       "hash": {
-        "sha256-flat-1mb": "aae471b1933ca9b4da361b9ce6dc290fc3a6f99b67d7af56b1b924294af9fe9c",
-        "sha256": "7cfcdfcc075dc44ae023876b809a3e80ceabf55ff87fd08c267ff7c8bf903f89"
+        "sha256-flat-1mb": "845c069eae889df74580881da2566f6bbfe5842481341f3e20ab57454ea38ca5",
+        "sha256": "71b5a5cac10794ec537251bfc721c5d723babfe4cac6b66ec00d1289ca731126"
+      }
+    },
+    {
+      "relative_path": "thor/.thumbs/256x256/standardbots_thor.usd_light.png",
+      "size": 11384,
+      "hash": {
+        "sha256-flat-1mb": "78590101070bfb625ea0d964611d93c93566e2af6994d0ee792c4a20adb88dd4",
+        "sha256": "ced5329b819f08faaacf91263265cb394266987d24840f9efabd2eb1ded52880"
+      }
+    },
+    {
+      "relative_path": "thor/.thumbs/256x256/standardbots_thor.usd_transparent.png",
+      "size": 13908,
+      "hash": {
+        "sha256-flat-1mb": "e46534e58b6acb0d2c1db8e573b753f7d42a13266a34ad69fe6fc4c47f03dc23",
+        "sha256": "c3bc1b3e0ef46048b0afe4b9b120b52a64b80c0a3bb371ef6834bca79356819d"
       }
     },
     {
       "relative_path": "thor/build_report.json",
-      "size": 48247,
+      "size": 68459,
       "hash": {
-        "sha256-flat-1mb": "3c369fc18b54fa609937960dd437be327416285cc164c330eb5e597662950a71",
-        "sha256": "9fb51de454e9ac1b7ad8284fb4e1b7548b7e32f16b8534d024e628b782bf6feb"
+        "sha256-flat-1mb": "e80972e1a315a8596fd6a2376bbd66ffc8b356bb0c507c5fbfb8531e5deaa07f",
+        "sha256": "4cd423948945985e7df0dd89ed22be02b340cde6c45ab736df1742b84dfe3485"
       }
     },
     {
@@ -52,10 +68,10 @@
     },
     {
       "relative_path": "thor/configuration/thor_materials.usda",
-      "size": 1962,
+      "size": 5528,
       "hash": {
-        "sha256-flat-1mb": "08f0a95a50393bb45e8fa1f2910e54ea7298d56fd4535bf35cad4748753c7672",
-        "sha256": "5227a30929ebbf73cc77dac024c547ad47a3b1e74a36ebebd17db54e02921a3a"
+        "sha256-flat-1mb": "e95c96c16e82c3c34250b4b3f453a099e9c411699cd1e76d83f94af8b208ed76",
+        "sha256": "9340f1ffacb976eb40c3103c710382a831dffd8da19129efd6dea744fa70aaaf"
       }
     },
     {
@@ -76,10 +92,10 @@
     },
     {
       "relative_path": "thor/configuration/thor_visual.usda",
-      "size": 12886,
+      "size": 31403,
       "hash": {
-        "sha256-flat-1mb": "0cf60b9c8dea70d184220844095a47f9fba1c63c45393aa26a9cdfb703d7d7c2",
-        "sha256": "389b909377787ecaec8921c366a258c14eb5e5830bc3cf1044b01b7acf6b905f"
+        "sha256-flat-1mb": "4710662007161471552e005dde6bf516e4235545f04f4e138ca9b6737c867c0b",
+        "sha256": "5e2d0f8f0f424497647e694208d90138e74df0c70b6a0645f4b02d402208e400"
       }
     },
     {
@@ -195,10 +211,10 @@
     },
     {
       "relative_path": "thor/standardbots_thor.usd",
-      "size": 3048,
+      "size": 2553,
       "hash": {
-        "sha256-flat-1mb": "3f2b20cc1da2e614227d448c418e330496fa278f334823ed177ce9b90abc30bf",
-        "sha256": "f288833ae1ee2b385b21cc6a79dc30d3f2f20d165748e2ebe5c74f8b1ae0e9e4"
+        "sha256-flat-1mb": "9687e87b84a921aa8613b7905bb6d9169504f94e57657883b7c06cad2c26d6a7",
+        "sha256": "994246dfeec5973d5f70c2c52341ab8c6b046ee825cbb8cde438832f45b91184"
       }
     }
   ]

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

@@ -1,6 +0,0 @@
-{
-  "format_version": "1.0",
-  "entries": [
-    "thor/standardbots_thor.usd"
-  ]
-}

standardbots_thor/.metadata/standardbots_thor_benchmark.json

@@ -0,0 +1,2593 @@
+{
+  "schema_version": "1.0",
+  "asset": "standardbots_thor",
+  "run_timestamp": "2026-10-07T17:45:42Z",
+  "passed": true,
+  "results": [
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 34.554,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.247,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 77.94,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.015,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "culling_xz_max_diff": {
+          "value": 0.00191,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 0.000481,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 34.272,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.224,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 76.49,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.053,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "culling_xz_max_diff": {
+          "value": 0.002624,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 0.00051,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "drive_gain_validation",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 8.288,
+      "message": "",
+      "metrics": {
+        "dgv_joints_tested": {
+          "value": 6,
+          "unit": null
+        },
+        "dgv_passive_joints_skipped": {
+          "value": 0,
+          "unit": null
+        },
+        "dgv_mimic_follower_joints_skipped": {
+          "value": 0,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 1.845,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 19,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 97.1,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.638,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "dgv_joints_passed": {
+          "value": 6,
+          "unit": null
+        },
+        "dgv_joints_failed": {
+          "value": 0,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "effort_limit",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 43.292,
+      "message": "",
+      "metrics": {
+        "eff_joints_with_candidates": {
+          "value": 6,
+          "unit": null
+        },
+        "eff_joints_skipped_passive": {
+          "value": 0,
+          "unit": null
+        },
+        "eff_joints_skipped_mimic_follower": {
+          "value": 0,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 11.793,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 144,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 81.89,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.31,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "eff_joints_tested": {
+          "value": 6,
+          "unit": null
+        },
+        "eff_joints_passed": {
+          "value": 6,
+          "unit": null
+        },
+        "eff_joints_failed": {
+          "value": 0,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "full_range_sweep",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 81.891,
+      "message": "",
+      "metrics": {
+        "frs_total_dofs": {
+          "value": 6,
+          "unit": null
+        },
+        "frs_joints_tested": {
+          "value": 6,
+          "unit": null
+        },
+        "frs_passive_joints_skipped": {
+          "value": 0,
+          "unit": null
+        },
+        "frs_loop_joints_skipped": {
+          "value": 0,
+          "unit": null
+        },
+        "frs_bbox_baseline_volume": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 15.58,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 180,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 86.55,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.876,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "frs_joints_passed": {
+          "value": 6,
+          "unit": null
+        },
+        "frs_joints_failed": {
+          "value": 0,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.043,
+      "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
+      "metrics": {
+        "ground_drop_skipped": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "ik_target_reach",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.956,
+      "message": "IK Target Reach phase cannot run: no Lula kinematics descriptor matched this asset.\n\n  Found:    asset_path='<home>/Documents/standardbots/USD_Validate/Thor/StandardBots_Thor_SimReady_20261007/standardbots_thor/thor/standardbots_thor.usd'\n            isaac:robotType='ARM'\n  Expected: the asset's path OR its IsaacRobotAPI.isaac:robotType\n            value contains one of the canonical Lula-supported\n            robot keys (case-insensitive substring match):\n              Franka, UR3, UR5, UR10, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4\n\nFIX (asset-authoring): the Lula IK solver needs a descriptor YAML +\nURDF pair to know your robot's kinematic chain. Two ways to satisfy\nthis test:\n\n  1. RENAME / RETAG to a supported model. If your robot IS one of the\n     supported models above, ensure the asset folder name (or the\n     default prim's isaac:robotType token) contains the canonical\n     key. For example, place the asset under a folder containing\n     'Franka' or set:\n         token isaac:robotType = \"Manipulator\"\n         string isaac:robotName = \"Franka\"\n     on the default prim.\n\n  2. PROVIDE an explicit Lula descriptor. Set the phase config in\n     your test profile:\n         lula_robot_name: \"<canonical-name>\"\n         lula_yaml_path:  \"./abs/path/to/robot_descriptor.yaml\"\n         lula_urdf_path:  \"./abs/path/to/robot.urdf\"\n     The YAML must list the kinematic chain (base_link, cspace,\n     active joints, default_q) per Isaac Sim's Lula descriptor\n     format. See any policy in the policy_map directory cited below\n     for a working template.\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/robot_core/requirements/robot-type.md (RC.008)\n             nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/robot_core/requirements/robot-schema.md (RC.007)\n  Feature:   nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_021_ISAAC.md\n  Lula descriptors: Isaac Sim ships YAML+URDF pairs under\n             isaacsim.robot_motion.motion_generation/policies/\n             policy_map.json -- keyed by canonical robot name\n             (Franka, UR3, UR5, UR10, UR16e, Kinova_Gen3,\n              Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta,\n              Festo_Cobot, Rethink_Sawyer, Rizon4).\n  Example:   Any Franka_*.usd or UR10_*.usd asset under\n             sample_content/common_assets/robots_general/ -- the\n             asset folder name contains the canonical robot key\n             and the default prim sets isaac:robotType=\"Manipulator\".",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "jacobian_ik",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 60.866,
+      "message": "",
+      "metrics": {
+        "jik_robot_reach": {
+          "value": 1.1834,
+          "unit": null
+        },
+        "jik_target_radius": {
+          "value": 1.065,
+          "unit": null
+        },
+        "jik_base_position_x": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jik_base_position_y": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jik_base_position_z": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jik_max_observed_reach": {
+          "value": 1.6593,
+          "unit": null
+        },
+        "jik_distinct_reachable_targets": {
+          "value": 5,
+          "unit": null
+        },
+        "jik_bbox_baseline_volume": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jik_total_iterations": {
+          "value": 509,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 7.606,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 75,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 101.42,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.458,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "jik_targets_generated": {
+          "value": 7,
+          "unit": null
+        },
+        "jik_targets_reached": {
+          "value": 4,
+          "unit": null
+        },
+        "jik_targets_total_passed": {
+          "value": 6,
+          "unit": null
+        },
+        "jik_targets_in_reach": {
+          "value": 5,
+          "unit": null
+        },
+        "jik_targets_out_of_reach": {
+          "value": 2,
+          "unit": null
+        },
+        "jik_in_reach_failed": {
+          "value": 1,
+          "unit": null
+        },
+        "jik_in_reach_passed_green": {
+          "value": 4,
+          "unit": null
+        },
+        "jik_in_reach_solver_failed_red": {
+          "value": 0,
+          "unit": null
+        },
+        "jik_in_reach_motion_failed_orange": {
+          "value": 1,
+          "unit": null
+        },
+        "jik_out_of_reach_correctly_failed_magenta": {
+          "value": 2,
+          "unit": null
+        },
+        "jik_out_of_reach_false_positive_yellow": {
+          "value": 0,
+          "unit": null
+        },
+        "jik_max_position_error_m": {
+          "value": 0.302569,
+          "unit": null
+        },
+        "jik_max_orientation_error_deg": {
+          "value": 68.9905,
+          "unit": null
+        },
+        "jik_pass_rate": {
+          "value": 0.8,
+          "unit": null
+        },
+        "jik_ee_link": {
+          "value": "/World/AssetRoot/Asset/wrist_3_link",
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "joint_movement",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 38.376,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 5.895,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 45,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 131.01,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.188,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "jm_joint_joint0_rot_deg": {
+          "value": 179.882,
+          "unit": null
+        },
+        "jm_joint_joint0_trans_pct": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jm_joint_joint0_bbox_m": {
+          "value": 0.4122,
+          "unit": null
+        },
+        "jm_joint_joint0_pct_of_travel": {
+          "value": 50.0,
+          "unit": null
+        },
+        "jm_joint_joint1_rot_deg": {
+          "value": 179.904,
+          "unit": null
+        },
+        "jm_joint_joint1_trans_pct": {
+          "value": 61.41,
+          "unit": null
+        },
+        "jm_joint_joint1_bbox_m": {
+          "value": 1.2688,
+          "unit": null
+        },
+        "jm_joint_joint1_pct_of_travel": {
+          "value": 50.0,
+          "unit": null
+        },
+        "jm_joint_joint2_rot_deg": {
+          "value": 180.0,
+          "unit": null
+        },
+        "jm_joint_joint2_trans_pct": {
+          "value": 178.5,
+          "unit": null
+        },
+        "jm_joint_joint2_bbox_m": {
+          "value": 0.9995,
+          "unit": null
+        },
+        "jm_joint_joint2_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_joint3_rot_deg": {
+          "value": 179.883,
+          "unit": null
+        },
+        "jm_joint_joint3_trans_pct": {
+          "value": 1320.98,
+          "unit": null
+        },
+        "jm_joint_joint3_bbox_m": {
+          "value": 0.2355,
+          "unit": null
+        },
+        "jm_joint_joint3_pct_of_travel": {
+          "value": 50.0,
+          "unit": null
+        },
+        "jm_joint_joint4_rot_deg": {
+          "value": 179.953,
+          "unit": null
+        },
+        "jm_joint_joint4_trans_pct": {
+          "value": 1090.2,
+          "unit": null
+        },
+        "jm_joint_joint4_bbox_m": {
+          "value": 0.2355,
+          "unit": null
+        },
+        "jm_joint_joint4_pct_of_travel": {
+          "value": 50.0,
+          "unit": null
+        },
+        "jm_joint_joint5_rot_deg": {
+          "value": 179.999,
+          "unit": null
+        },
+        "jm_joint_joint5_trans_pct": {
+          "value": 1220.44,
+          "unit": null
+        },
+        "jm_joint_joint5_bbox_m": {
+          "value": 0.1804,
+          "unit": null
+        },
+        "jm_joint_joint5_pct_of_travel": {
+          "value": 50.0,
+          "unit": null
+        },
+        "jm_joints_total": {
+          "value": 6,
+          "unit": null
+        },
+        "jm_joints_passed": {
+          "value": 6,
+          "unit": null
+        },
+        "jm_joints_failed": {
+          "value": 0,
+          "unit": null
+        },
+        "jm_joint_joint0_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_joint1_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_joint2_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_joint3_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_joint4_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_joint5_status": {
+          "value": "passed",
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 7.465,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.549,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 84.98,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.745,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_variation_ratio": {
+          "value": 0.413793,
+          "unit": null
+        },
+        "light_response_blank_ratio": {
+          "value": 0.0,
+          "unit": null
+        },
+        "light_response_blank_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_total_frames": {
+          "value": 30,
+          "unit": null
+        },
+        "light_response_total_pairs": {
+          "value": 29,
+          "unit": null
+        },
+        "light_response_different_pairs": {
+          "value": 12,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.788442,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.013499,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 7.38,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.524,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 84.13,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.744,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_variation_ratio": {
+          "value": 0.448276,
+          "unit": null
+        },
+        "light_response_blank_ratio": {
+          "value": 0.0,
+          "unit": null
+        },
+        "light_response_blank_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_total_frames": {
+          "value": 30,
+          "unit": null
+        },
+        "light_response_total_pairs": {
+          "value": 29,
+          "unit": null
+        },
+        "light_response_different_pairs": {
+          "value": 13,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.787504,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.012626,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "mdl_renders",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 2.983,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.586,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 146.62,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "mdl_surface_materials_with_universal": {
+          "value": 28,
+          "unit": null
+        },
+        "mdl_surface_materials_with_mdl": {
+          "value": 28,
+          "unit": null
+        },
+        "mdl_surface_materials_with_mtlx": {
+          "value": 0,
+          "unit": null
+        },
+        "mdl_surface_materials_total": {
+          "value": 28,
+          "unit": null
+        },
+        "mdl_surface_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "mdl_surface_contexts_present": {
+          "value": "mdl, universal",
+          "unit": null
+        },
+        "mdl_surface_render_context_order": {
+          "value": "mdl",
+          "unit": null
+        },
+        "mdl_surface_silhouette_pixels": {
+          "value": 60888,
+          "unit": null
+        },
+        "mdl_surface_uncovered_pixels": {
+          "value": 0,
+          "unit": null
+        },
+        "mdl_surface_coverage": {
+          "value": 1.0,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "mdl_renders",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 2.747,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.571,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 142.67,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "mdl_surface_materials_with_universal": {
+          "value": 28,
+          "unit": null
+        },
+        "mdl_surface_materials_with_mdl": {
+          "value": 28,
+          "unit": null
+        },
+        "mdl_surface_materials_with_mtlx": {
+          "value": 0,
+          "unit": null
+        },
+        "mdl_surface_materials_total": {
+          "value": 28,
+          "unit": null
+        },
+        "mdl_surface_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "mdl_surface_contexts_present": {
+          "value": "mdl, universal",
+          "unit": null
+        },
+        "mdl_surface_render_context_order": {
+          "value": "mdl",
+          "unit": null
+        },
+        "mdl_surface_silhouette_pixels": {
+          "value": 60872,
+          "unit": null
+        },
+        "mdl_surface_uncovered_pixels": {
+          "value": 0,
+          "unit": null
+        },
+        "mdl_surface_coverage": {
+          "value": 1.0,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "mimic_joint",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.904,
+      "message": "MIM: no PhysxMimicJointAPI found on any joint under the asset prim.\n\n  Found:    0 joints with PhysxMimicJointAPI applied\n  Expected: at least one revolute or prismatic joint with\n            PhysxMimicJointAPI:<axisToken> applied (rotX/rotY/rotZ\n            or transX/transY/transZ)\n\nFIX (if your asset has coupled joints, e.g. a parallel-jaw gripper\nwhere the two finger joints must move together):\n  1. Pick the driven joint and call it the REFERENCE joint. Leave\n     it with a normal drive (PhysicsDriveAPI or JointStateAPI).\n  2. On each FOLLOWER joint, apply PhysxMimicJointAPI keyed to that\n     joint's physics:axis instance token (e.g. \"rotX\" for a\n     revolute joint with physics:axis = \"X\").\n  3. Set physxMimicJoint:<axis>:gearing (non-zero) and\n     physxMimicJoint:<axis>:referenceJoint pointing at the\n     reference joint's prim path.\n  4. Both follower AND reference joints must have physics:lowerLimit\n     and physics:upperLimit authored, and neither may have\n     physics:excludeFromArticulation = true.\n\nPaste-ready USDA snippet (adapt paths, axis token, gearing sign,\nand limits to your asset):\n\n    # The follower joint: applies PhysxMimicJointAPI keyed to the axis\n    # token of the joint (rotX/rotY/rotZ for revolute, transX/transY/\n    # transZ for prismatic). The instance name MUST match physics:axis.\n    def PhysicsRevoluteJoint \"follower_joint\" (\n        prepend apiSchemas = [\"PhysxMimicJointAPI:rotX\"]\n    )\n    {\n        uniform token physics:axis = \"X\"\n        rel physics:body0 = <./path/to/parent_link>\n        rel physics:body1 = <./path/to/follower_link>\n        float physics:lowerLimit = -45.0   # required: limits must be authored\n        float physics:upperLimit =  45.0\n\n        # ---- PhysxMimicJointAPI:rotX attributes ----\n        # gearing: \u0394q_follower = gearing * \u0394q_reference + offset\n        # Must be a non-zero real number. Sign encodes direction:\n        # -1 = follower moves opposite the reference (typical for\n        # parallel-jaw grippers where one jaw mirrors the other).\n        float physxMimicJoint:rotX:gearing = -1.0\n        float physxMimicJoint:rotX:offset = 0.0\n        float physxMimicJoint:rotX:naturalFrequency = 100.0\n        float physxMimicJoint:rotX:dampingRatio = 0.0\n        # referenceJoint must point at a joint that does NOT itself\n        # carry PhysxMimicJointAPI (no chains/cycles).\n        rel physxMimicJoint:rotX:referenceJoint = <./path/to/reference_joint>\n    }\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n  Example:   sample_content/common_assets/robots_general/Robotiq/ezu_35/simready_isaac_usd/payloads/Physics/physx.usda\n             (search for: PhysxMimicJointAPI:rotX on GBA2_TRANS_2 / GBA3_TRANS_3 referencing Jaw_Drive with gearing = -1)\n\nNote: this test is SKIPPED (not failed) because mimic joints are\noptional. If your asset truly has no coupled joints, this skip is\nexpected and benign.",
+      "metrics": {
+        "mim_mimic_pairs_detected": {
+          "value": 0,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "multi_joint_coordination",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 26.315,
+      "message": "",
+      "metrics": {
+        "mjc_total_joints": {
+          "value": 6,
+          "unit": null
+        },
+        "mjc_valid_joints": {
+          "value": 6,
+          "unit": null
+        },
+        "mjc_loop_joints_skipped": {
+          "value": 0,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 8.462,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 88,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 96.16,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.547,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "mjc_iterations_passed": {
+          "value": 3,
+          "unit": null
+        },
+        "mjc_iterations_failed": {
+          "value": 0,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "normals_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 7.145,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.945,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 618.16,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.444,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 7,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 7,
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_002.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_003.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_004.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_005.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_006.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_007.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_008.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "normals_xz_avg_dark": {
+          "value": 0.0,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.0,
+          "unit": null
+        },
+        "normals_xz_problem_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "normals_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 7.023,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.785,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 598.1,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.428,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 7,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 7,
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_002.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_003.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_004.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_005.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_006.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_007.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_008.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "normals_xz_avg_dark": {
+          "value": 0.0,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.0,
+          "unit": null
+        },
+        "normals_xz_problem_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "pivot",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 5.903,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.771,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 88.55,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.987,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_score": {
+          "value": 0.9,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 0.0,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "pivot",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 5.95,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.964,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 98.2,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.936,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_score": {
+          "value": 0.9,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 0.0,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "presence",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 1.128,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.125,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 62.74,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "presence_diff_ratio": {
+          "value": 0.057797,
+          "unit": null
+        },
+        "presence_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "presence",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 1.193,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.127,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 63.36,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "presence_diff_ratio": {
+          "value": 0.057798,
+          "unit": null
+        },
+        "presence_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "preview_surface_renders",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 2.172,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.606,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 151.43,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_with_universal": {
+          "value": 28,
+          "unit": null
+        },
+        "universal_surface_materials_with_mdl": {
+          "value": 28,
+          "unit": null
+        },
+        "universal_surface_materials_with_mtlx": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_total": {
+          "value": 28,
+          "unit": null
+        },
+        "universal_surface_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "universal_surface_contexts_present": {
+          "value": "mdl, universal",
+          "unit": null
+        },
+        "universal_surface_render_context_order": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_silhouette_pixels": {
+          "value": 60419,
+          "unit": null
+        },
+        "universal_surface_uncovered_pixels": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_coverage": {
+          "value": 1.0,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "preview_surface_renders",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 2.011,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.604,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 150.89,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_with_universal": {
+          "value": 28,
+          "unit": null
+        },
+        "universal_surface_materials_with_mdl": {
+          "value": 28,
+          "unit": null
+        },
+        "universal_surface_materials_with_mtlx": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_total": {
+          "value": 28,
+          "unit": null
+        },
+        "universal_surface_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "universal_surface_contexts_present": {
+          "value": "mdl, universal",
+          "unit": null
+        },
+        "universal_surface_render_context_order": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_silhouette_pixels": {
+          "value": 60412,
+          "unit": null
+        },
+        "universal_surface_uncovered_pixels": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_coverage": {
+          "value": 1.0,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "slope_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.049,
+      "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
+      "metrics": {
+        "slope_drop_skipped": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "state_accuracy",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 23.536,
+      "message": "",
+      "metrics": {
+        "sta_joints_with_limits": {
+          "value": 6,
+          "unit": null
+        },
+        "sta_joints_skipped_passive": {
+          "value": 0,
+          "unit": null
+        },
+        "sta_joints_skipped_mimic_follower": {
+          "value": 0,
+          "unit": null
+        },
+        "sta_joints_skipped_loop": {
+          "value": 0,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 7.914,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 92,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 86.03,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.658,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "sta_joints_tested": {
+          "value": 6,
+          "unit": null
+        },
+        "sta_joints_passed": {
+          "value": 6,
+          "unit": null
+        },
+        "sta_joints_failed": {
+          "value": 0,
+          "unit": null
+        },
+        "sta_max_position_error_deg": {
+          "value": 0.14646588287066586,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "velocity_limit",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 12.344,
+      "message": "",
+      "metrics": {
+        "vel_joints_with_limits": {
+          "value": 6,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 3.728,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 37,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 100.76,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.768,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "vel_joints_passed": {
+          "value": 6,
+          "unit": null
+        },
+        "vel_joints_failed": {
+          "value": 0,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    }
+  ]
+}

standardbots_thor/.metadata/standardbots_thor_validation.json

@@ -0,0 +1,242 @@
+{
+    "thor/standardbots_thor.usd": {
+        "features_summary": {
+            "FET_000_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RC.001', 'com.nvidia.simready.SR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.007', 'com.nvidia.simready.SR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.004', 'com.nvidia.simready.SR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.001', 'com.nvidia.simready.SR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.SR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_001_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "1.0.1"
+            },
+            "FET_003_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_003_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_004_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_004_ROBOT_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_ROBOT_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_006_MDL": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_006_OPENPBR": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.PBR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_006_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_010_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.DISP.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_021_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.3.0"
+            },
+            "FET_022_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_022_PHYSX': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_022_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_ROBOT_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_022_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_ROBOT_NEWTON': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_022_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_022_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_023_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.NEWTON.BA.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_024_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_025_ROS": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.ROS.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_031_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_033_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_031_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_100_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "optional requirements": "['com.nvidia.simready.ISA.001']",
+                "passed": false,
+                "version": "0.3.0"
+            }
+        },
+        "profile_id": "Robot-Body",
+        "profile_version": "3.0.0",
+        "simready_validate_version": "2026.8.0",
+        "tier_versions": {
+            "sensors": "2026.8.0",
+            "tier_aif": "2026.8.0",
+            "tier_core": "2026.8.0"
+        }
+    }
+}

standardbots_thor/com.nvidia.simready.packaging.json

@@ -1,18 +1,18 @@
 {
   "format_version": "1.0",
-  "package_id": "simready.hf.standardbots.simready-thor.standardbots_thor.2026.10.02_00",
+  "package_id": "simready.hf.standardbots.simready-thor.standardbots_thor.2026.10.07_00",
   "license": "cc-by-4.0",
   "metadata": [
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "b0aaa2654b724a1814c3e0223af922cf41b91e56a80366b40f3645b8d5e0a473"
+        "sha256": "3e0dd4ed831151139abb8aac4f131f6975b00520710e67e1755f66e1a5091137"
       }
     },
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "8662a0b4b5918a8882f2d4ac3be85cad3f64d2ffdc4d72875332c44430a85891"
+        "sha256": "22f778d09cbc242f270abcfbc74b0e2b4d589333a512aa7f1d2fdaddf8a1fbba"
       }
     },
     {
@@ -23,9 +23,9 @@
     }
   ],
   "content_hash": {
-    "sha256": "550e13c64ded630c979d6c13147a86db9c8f2441a6aceb9a9bb3b855e968df97"
+    "sha256": "36302662381f6ce586aad61d2f007176ecf38fbfc826b5eb2cd73facc3f7c2e2"
   },
   "package_hash": {
-    "sha256": "74d7758fdf83a2c21c707d9b3e57b7eaf7fb15366f401b9e08f36b4c48bf809a"
+    "sha256": "525ffedec9c1ff8869a67a4ca0a79b96598666bae611d90be32836b5c6b749ca"
   }
 }

standardbots_thor/thor/build_report.json

@@ -659,15 +659,17 @@
     "mdl": "gltf/pbr.mdl, vendored to meshes/visual/gltf/pbr.mdl"
   },
   "outputs_sha256": {
-    ".thumbs/256x256/standardbots_thor.usd.png": "7cfcdfcc075dc44ae023876b809a3e80ceabf55ff87fd08c267ff7c8bf903f89",
+    ".thumbs/256x256/standardbots_thor.usd.png": "71b5a5cac10794ec537251bfc721c5d723babfe4cac6b66ec00d1289ca731126",
+    ".thumbs/256x256/standardbots_thor.usd_light.png": "ced5329b819f08faaacf91263265cb394266987d24840f9efabd2eb1ded52880",
+    ".thumbs/256x256/standardbots_thor.usd_transparent.png": "c3bc1b3e0ef46048b0afe4b9b120b52a64b80c0a3bb371ef6834bca79356819d",
     "configuration/OmniPBR/OmniPBR.mdl": "d384fc800f120e3cad1b7ca8837f9c554f9c34343d194813fca27caa493001f2",
     "configuration/OmniPBR/OmniPBRBase.mdl": "701f37299b44106842bdbe025de52eedec391e35b038f61c4ed4d25bd98e7db1",
     "configuration/OmniPBR/OmniPBR_ClearCoat.mdl": "687fce3f0693146b91495f04407a7c38c78f6b9262b63621f44b4b1f09110469",
     "configuration/thor_base.usd": "6fcde5a26738f76ae561c94bdeab3338a37f600dddf09c48521ba0af063c8d2a",
-    "configuration/thor_materials.usda": "5227a30929ebbf73cc77dac024c547ad47a3b1e74a36ebebd17db54e02921a3a",
+    "configuration/thor_materials.usda": "9340f1ffacb976eb40c3103c710382a831dffd8da19129efd6dea744fa70aaaf",
     "configuration/thor_physics.usd": "11990ff6be0a620e0ce9ad1f4c6243b0a1fcf758ccd9cad6ae12b0977a5d5d43",
     "configuration/thor_sensor.usd": "31d576973c20c15a82406717f17dc36804243fc0800878c6fbfb70c157962b48",
-    "configuration/thor_visual.usda": "389b909377787ecaec8921c366a258c14eb5e5830bc3cf1044b01b7acf6b905f",
+    "configuration/thor_visual.usda": "5e2d0f8f0f424497647e694208d90138e74df0c70b6a0645f4b02d402208e400",
     "meshes/visual/base_link.usd": "16309a359f88bbcdc8fe1880077812d9bef8b48e59c3613a2634c6993af7e0b0",
     "meshes/visual/forearm_link.usd": "0b15eef7a326a511a5fa2628399ea8162ccd2377e945f23152f8aa8541ffaa87",
     "meshes/visual/gltf/pbr.mdl": "eeed10b53c18d789f94a24a3a6b996c49668ae2d5b6a909bae3420f2beb16fc8",
@@ -681,7 +683,7 @@
     "preview/thor_side.png": "325a3d1440bd2675f0ba4966da338b47b588476059ee21a29ef78325ea64af13",
     "preview/thor_three_quarter.png": "2bdb6b10622cfc9700cf6c5ce594efa06a252fa143a6fe6f94ee8475a5b610c1",
     "preview/thor_wrist_detail.png": "bd6d41533f546577e483a390726537f4cf9d27542040b273702f85699a435f30",
-    "standardbots_thor.usd": "f288833ae1ee2b385b21cc6a79dc30d3f2f20d165748e2ebe5c74f8b1ae0e9e4"
+    "standardbots_thor.usd": "994246dfeec5973d5f70c2c52341ab8c6b046ee825cbb8cde438832f45b91184"
   },
   "revisions": [
     {
@@ -1284,6 +1286,615 @@
         "2026-09-30"
       ],
       "robot_schema_on_pythonpath": true
+    },
+    {
+      "date": "2026-10-07",
+      "stage": "UsdPreviewSurface beside every MDL material (VM.PS.002)",
+      "tool": "tools/add_preview_surfaces.py",
+      "input": "Thor/StandardBots_Thor_SimReady_20261002/standardbots_thor/thor",
+      "kit_usd": "0.25.11",
+      "changes": [
+        "configuration/thor_materials.usda: 8 material(s) gain a PreviewSurface UsdPreviewSurface on outputs:surface",
+        "configuration/thor_visual.usda: 30 material(s) gain a PreviewSurface UsdPreviewSurface on outputs:surface"
+      ],
+      "mapping": {
+        "gltf_material": {
+          "diffuseColor": "base_color_factor",
+          "metallic": "metallic_factor",
+          "roughness": "roughness_factor",
+          "ior": "ior"
+        },
+        "OmniPBR": {
+          "diffuseColor": "diffuse_color_constant",
+          "metallic": "metallic_constant",
+          "roughness": "reflection_roughness_constant"
+        }
+      },
+      "materials": [
+        {
+          "material": "/thor/Looks/material_base_link_color",
+          "mdl": "OmniPBR",
+          "values": {
+            "diffuseColor": [
+              0.8666700124740601,
+              0.8666700124740601,
+              0.8902000188827515
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+            "metallic": 0.0,
+            "roughness": 0.3199999928474426
+          }
+        },
+        {
+          "material": "/thor/Looks/material_forearm_link_color",
+          "mdl": "OmniPBR",
+          "values": {
+            "diffuseColor": [
+              0.8666666746139526,
+              0.8666666746139526,
+              0.8901960849761963
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+            "metallic": 0.0,
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+          }
+        },
+        {
+          "material": "/thor/Looks/material_shoulder_link_color",
+          "mdl": "OmniPBR",
+          "values": {
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+              0.8666666746139526,
+              0.8666666746139526,
+              0.8901960849761963
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+            "metallic": 0.0,
+            "roughness": 0.3199999928474426
+          }
+        },
+        {
+          "material": "/thor/Looks/material_upper_arm_link_color",
+          "mdl": "OmniPBR",
+          "values": {
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+              0.8666700124740601,
+              0.8666700124740601,
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+        {
+          "material": "/thor/Looks/material_wrist_1_link_color",
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+              0.8666666746139526,
+              0.8901960849761963
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+        },
+        {
+          "material": "/thor/Looks/material_wrist_2_link_color",
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+          "values": {
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+              0.8666666746139526,
+              0.8666666746139526,
+              0.8901960849761963
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+        {
+          "material": "/thor/Looks/DefaultMaterial",
+          "mdl": "OmniPBR",
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+              1.0,
+              1.0
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+        {
+          "material": "/thor/base_link/visuals/base_link_textured/Looks/New_Arm_Hard_Anodise_Black__1_004",
+          "mdl": "gltf_material",
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+              0.011764699593186378,
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+          "material": "/thor/base_link/visuals/base_link_textured/Looks/Aluminum_Rough___1__1_002",
+          "mdl": "gltf_material",
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+        },
+        {
+          "material": "/thor/base_link/visuals/base_link_textured/Looks/Hard_Rough_Plastic_Grey__1_002",
+          "mdl": "gltf_material",
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+          "material": "/thor/base_link/visuals/base_link_textured/Looks/New_Arm_Hard_Anodise_Black__1_005",
+          "mdl": "gltf_material",
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+          "mdl": "gltf_material",
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+          "mdl": "gltf_material",
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+          "mdl": "gltf_material",
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+          "mdl": "gltf_material",
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+        },
+        {
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+          "mdl": "gltf_material",
+          "values": {
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+        },
+        {
+          "material": "/thor/wrist_3_link/visuals/wrist_3_link_textured/Looks/New_Arm_Hard_Anodise_Black__1_006",
+          "mdl": "gltf_material",
+          "values": {
+            "diffuseColor": [
+              0.011764699593186378,
+              0.011764699593186378,
+              0.011764699593186378
+            ],
+            "metallic": 0.5,
+            "roughness": 0.5527864098548889,
+            "ior": 1.4500000476837158
+          }
+        },
+        {
+          "material": "/thor/wrist_3_link/visuals/wrist_3_link_textured/Looks/Aluminum_Brushed_90___1__1_005",
+          "mdl": "gltf_material",
+          "values": {
+            "diffuseColor": [
+              0.792156994342804,
+              0.8196079730987549,
+              0.9333329796791077
+            ],
+            "metallic": 0.5,
+            "roughness": 0.5527864098548889,
+            "ior": 1.4500000476837158
+          }
+        }
+      ],
+      "defaults_used": [],
+      "unchanged": "MDL networks, bindings, geometry, physics, colliders"
+    },
+    {
+      "date": "2026-10-07",
+      "stage": "SimReady provenance metadata (SR.004)",
+      "tool": "tools/author_simready_metadata.py",
+      "input": "Thor/StandardBots_Thor_SimReady_20261007/standardbots_thor/thor",
+      "in_place": true,
+      "helper": "Thor/validation_runs/2026-10-07/vendor/extract_simready_metadata.py",
+      "helper_sha256": "a7f28269ca8769762b62415b8806672a183a82fcbf203b0a32448f03c01a412f",
+      "spec": "Thor/engineering/thor_simready_metadata.json",
+      "spec_sha256": "5680fd660c0128a557ebec1987d0984aaa9710840bd1bb0c6876d6f90bf830ed",
+      "fields": {
+        "asset_extents": [
+          0.6211521625518799,
+          0.2960044741630554,
+          2.264488935470581
+        ],
+        "asset_license": "CC-BY-4.0",
+        "asset_name": "standardbots_thor",
+        "asset_type": "robot",
+        "author": "Standard Bots",
+        "category": "robotic arm",
+        "mass": 83.5967314077352,
+        "qcode": "Q40687",
+        "rigid_body_count": 8,
+        "source_file": "standard_bots_thor_description/robot_isaac.urdf",
+        "usd_date_generated": "2026-10-07"
+      },
+      "dropped": "SimReady_Metadata.validation, the retired Robot-Body-Runnable 1.1.0 stamp",
+      "mass_check": {
+        "verdict": "plausible",
+        "implied_density_kg_m3": 2459.44179901426,
+        "total_mass_kg": 83.5967314077352,
+        "expected_mass_min_kg": 60.0,
+        "expected_mass_max_kg": 110.0
+      }
+    },
+    {
+      "date": "2026-10-07",
+      "stage": "thumbnail to NVIDIA's thumbnail guidelines (REVIEW.004)",
+      "tool": "tools/render_thumbnail.py",
+      "renderer": "Isaac Sim RTX real-time, Replicator rgb + distance_to_image_plane mask",
+      "camera": {
+        "projection": "orthographic",
+        "azimuth_deg": -135.0,
+        "elevation_deg": 25.0,
+        "width_m": 2.4233
+      },
+      "lighting": "dome 1000 + key 3500 / fill 1500 / rim 2200 distant lights, all 6500 K",
+      "render_px": 1024,
+      "fill": 0.861,
+      "changes": [
+        ".thumbs/256x256/standardbots_thor.usd.png",
+        ".thumbs/256x256/standardbots_thor.usd_light.png",
+        ".thumbs/256x256/standardbots_thor.usd_transparent.png"
+      ],
+      "why": "the old thumbnail showed the asset on a light grey (RGB 225) background"
     }
   ]
 }

standardbots_thor/thor/configuration/thor_materials.usda

@@ -9,74 +9,162 @@ over "thor"
     {
         over "material_base_link_color"
         {
+            token outputs:surface.connect = </thor/Looks/material_base_link_color/PreviewSurface.outputs:surface>
+
             over "Shader"
             {
                 float inputs:metallic_constant = 0
                 float inputs:reflection_roughness_constant = 0.32
             }
+
+            def Shader "PreviewSurface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.86667, 0.86667, 0.8902)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.32
+                token outputs:surface
+            }
         }
 
         over "material_forearm_link_color"
         {
+            token outputs:surface.connect = </thor/Looks/material_forearm_link_color/PreviewSurface.outputs:surface>
+
             over "Shader"
             {
                 float inputs:metallic_constant = 0
                 float inputs:reflection_roughness_constant = 0.32
             }
+
+            def Shader "PreviewSurface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.8666667, 0.8666667, 0.8901961)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.32
+                token outputs:surface
+            }
         }
 
         over "material_shoulder_link_color"
         {
+            token outputs:surface.connect = </thor/Looks/material_shoulder_link_color/PreviewSurface.outputs:surface>
+
             over "Shader"
             {
                 float inputs:metallic_constant = 0
                 float inputs:reflection_roughness_constant = 0.32
             }
+
+            def Shader "PreviewSurface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.8666667, 0.8666667, 0.8901961)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.32
+                token outputs:surface
+            }
         }
 
         over "material_upper_arm_link_color"
         {
+            token outputs:surface.connect = </thor/Looks/material_upper_arm_link_color/PreviewSurface.outputs:surface>
+
             over "Shader"
             {
                 float inputs:metallic_constant = 0
                 float inputs:reflection_roughness_constant = 0.32
             }
+
+            def Shader "PreviewSurface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.86667, 0.86667, 0.8902)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.32
+                token outputs:surface
+            }
         }
 
         over "material_wrist_1_link_color"
         {
+            token outputs:surface.connect = </thor/Looks/material_wrist_1_link_color/PreviewSurface.outputs:surface>
+
             over "Shader"
             {
                 float inputs:metallic_constant = 0
                 float inputs:reflection_roughness_constant = 0.32
             }
+
+            def Shader "PreviewSurface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.8666667, 0.8666667, 0.8901961)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.32
+                token outputs:surface
+            }
         }
 
         over "material_wrist_2_link_color"
         {
+            token outputs:surface.connect = </thor/Looks/material_wrist_2_link_color/PreviewSurface.outputs:surface>
+
             over "Shader"
             {
                 float inputs:metallic_constant = 0
                 float inputs:reflection_roughness_constant = 0.32
             }
+
+            def Shader "PreviewSurface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.8666667, 0.8666667, 0.8901961)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.32
+                token outputs:surface
+            }
         }
 
         over "material_wrist_3_link_color"
         {
+            token outputs:surface.connect = </thor/Looks/material_wrist_3_link_color/PreviewSurface.outputs:surface>
+
             over "Shader"
             {
                 float inputs:metallic_constant = 0
                 float inputs:reflection_roughness_constant = 0.32
             }
+
+            def Shader "PreviewSurface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.8902, 0.8902, 0.91373)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.32
+                token outputs:surface
+            }
         }
 
         over "DefaultMaterial"
         {
+            token outputs:surface.connect = </thor/Looks/DefaultMaterial/PreviewSurface.outputs:surface>
+
             over "DefaultMaterial"
             {
                 float inputs:metallic_constant = 0
                 float inputs:reflection_roughness_constant = 0.32
             }
+
+            def Shader "PreviewSurface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (1, 1, 1)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.32
+                token outputs:surface
+            }
         }
     }
 }

standardbots_thor/thor/configuration/thor_visual.usda

@@ -37,34 +37,82 @@ over "visuals"
             {
                 over "New_Arm_Hard_Anodise_Black__1_004"
                 {
+                    token outputs:surface.connect = </visuals/base_link/base_link_textured/Looks/New_Arm_Hard_Anodise_Black__1_004/PreviewSurface.outputs:surface>
+
                     over "New_Arm_Hard_Anodise_Black__1_004"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.0117647, 0.0117647, 0.0117647)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "Aluminum_Rough___1__1_002"
                 {
+                    token outputs:surface.connect = </visuals/base_link/base_link_textured/Looks/Aluminum_Rough___1__1_002/PreviewSurface.outputs:surface>
+
                     over "Aluminum_Rough___1__1_002"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.792157, 0.819608, 0.933333)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "Hard_Rough_Plastic_Grey__1_002"
                 {
+                    token outputs:surface.connect = </visuals/base_link/base_link_textured/Looks/Hard_Rough_Plastic_Grey__1_002/PreviewSurface.outputs:surface>
+
                     over "Hard_Rough_Plastic_Grey__1_002"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.515023, 0.515023, 0.515023)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "New_Arm_Hard_Anodise_Black__1_005"
                 {
+                    token outputs:surface.connect = </visuals/base_link/base_link_textured/Looks/New_Arm_Hard_Anodise_Black__1_005/PreviewSurface.outputs:surface>
+
                     over "New_Arm_Hard_Anodise_Black__1_005"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.0117647, 0.0117647, 0.0117647)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
             }
         }
@@ -92,26 +140,62 @@ over "visuals"
             {
                 over "New_Arm_Hard_Anodise_Black__1_011"
                 {
+                    token outputs:surface.connect = </visuals/shoulder_link/shoulder_link_textured/Looks/New_Arm_Hard_Anodise_Black__1_011/PreviewSurface.outputs:surface>
+
                     over "New_Arm_Hard_Anodise_Black__1_011"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.0117647, 0.0117647, 0.0117647)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "Hard_Rough_Plastic_Orange___1_007"
                 {
+                    token outputs:surface.connect = </visuals/shoulder_link/shoulder_link_textured/Looks/Hard_Rough_Plastic_Orange___1_007/PreviewSurface.outputs:surface>
+
                     over "Hard_Rough_Plastic_Orange___1_007"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (1, 0.235031, 0.00221455)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "Aluminum_Brushed_90___1__1_008"
                 {
+                    token outputs:surface.connect = </visuals/shoulder_link/shoulder_link_textured/Looks/Aluminum_Brushed_90___1__1_008/PreviewSurface.outputs:surface>
+
                     over "Aluminum_Brushed_90___1__1_008"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.792157, 0.819608, 0.933333)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
             }
         }
@@ -139,42 +223,102 @@ over "visuals"
             {
                 over "New_Arm_Hard_Anodise_Black__1_006"
                 {
+                    token outputs:surface.connect = </visuals/upper_arm_link/upper_arm_link_textured/Looks/New_Arm_Hard_Anodise_Black__1_006/PreviewSurface.outputs:surface>
+
                     over "New_Arm_Hard_Anodise_Black__1_006"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.0117647, 0.0117647, 0.0117647)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "Hard_Rough_Plastic_Orange___1_004"
                 {
+                    token outputs:surface.connect = </visuals/upper_arm_link/upper_arm_link_textured/Looks/Hard_Rough_Plastic_Orange___1_004/PreviewSurface.outputs:surface>
+
                     over "Hard_Rough_Plastic_Orange___1_004"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (1, 0.235031, 0.00221455)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "Rubber__1__1___1_003"
                 {
+                    token outputs:surface.connect = </visuals/upper_arm_link/upper_arm_link_textured/Looks/Rubber__1__1___1_003/PreviewSurface.outputs:surface>
+
                     over "Rubber__1__1___1_003"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.0004, 0.0004, 0.0004)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "URDF_THOR_GEN3___J1___upper_arm_link_color_128_128_128_001"
                 {
+                    token outputs:surface.connect = </visuals/upper_arm_link/upper_arm_link_textured/Looks/URDF_THOR_GEN3___J1___upper_arm_link_color_128_128_128_001/PreviewSurface.outputs:surface>
+
                     over "URDF_THOR_GEN3___J1___upper_arm_link_color_128_128_128_001"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.501961, 0.501961, 0.501961)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "Aluminum_Brushed_90___1__1_004"
                 {
+                    token outputs:surface.connect = </visuals/upper_arm_link/upper_arm_link_textured/Looks/Aluminum_Brushed_90___1__1_004/PreviewSurface.outputs:surface>
+
                     over "Aluminum_Brushed_90___1__1_004"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.792157, 0.819608, 0.933333)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
             }
         }
@@ -202,42 +346,102 @@ over "visuals"
             {
                 over "New_Arm_Hard_Anodise_Black__1_003"
                 {
+                    token outputs:surface.connect = </visuals/forearm_link/forearm_link_textured/Looks/New_Arm_Hard_Anodise_Black__1_003/PreviewSurface.outputs:surface>
+
                     over "New_Arm_Hard_Anodise_Black__1_003"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.0117647, 0.0117647, 0.0117647)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "Hard_Rough_Plastic_Orange___1_003"
                 {
+                    token outputs:surface.connect = </visuals/forearm_link/forearm_link_textured/Looks/Hard_Rough_Plastic_Orange___1_003/PreviewSurface.outputs:surface>
+
                     over "Hard_Rough_Plastic_Orange___1_003"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (1, 0.235031, 0.00221455)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "Rubber__1__1___1_004"
                 {
+                    token outputs:surface.connect = </visuals/forearm_link/forearm_link_textured/Looks/Rubber__1__1___1_004/PreviewSurface.outputs:surface>
+
                     over "Rubber__1__1___1_004"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.0004, 0.0004, 0.0004)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "Aluminum_Brushed_90___1__1_003"
                 {
+                    token outputs:surface.connect = </visuals/forearm_link/forearm_link_textured/Looks/Aluminum_Brushed_90___1__1_003/PreviewSurface.outputs:surface>
+
                     over "Aluminum_Brushed_90___1__1_003"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.792157, 0.819608, 0.933333)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "URDF_THOR_GEN3___J2___forearm_link_color_255_255_255_001"
                 {
+                    token outputs:surface.connect = </visuals/forearm_link/forearm_link_textured/Looks/URDF_THOR_GEN3___J2___forearm_link_color_255_255_255_001/PreviewSurface.outputs:surface>
+
                     over "URDF_THOR_GEN3___J2___forearm_link_color_255_255_255_001"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (1, 1, 1)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
             }
         }
@@ -265,34 +469,82 @@ over "visuals"
             {
                 over "Rubber__1__1___1_018"
                 {
+                    token outputs:surface.connect = </visuals/wrist_1_link/wrist_1_link_textured/Looks/Rubber__1__1___1_018/PreviewSurface.outputs:surface>
+
                     over "Rubber__1__1___1_018"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.0004, 0.0004, 0.0004)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "Hard_Rough_Plastic_Orange___1_021"
                 {
+                    token outputs:surface.connect = </visuals/wrist_1_link/wrist_1_link_textured/Looks/Hard_Rough_Plastic_Orange___1_021/PreviewSurface.outputs:surface>
+
                     over "Hard_Rough_Plastic_Orange___1_021"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (1, 0.235031, 0.00221455)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "New_Arm_Hard_Anodise_Black__1_035"
                 {
+                    token outputs:surface.connect = </visuals/wrist_1_link/wrist_1_link_textured/Looks/New_Arm_Hard_Anodise_Black__1_035/PreviewSurface.outputs:surface>
+
                     over "New_Arm_Hard_Anodise_Black__1_035"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.0117647, 0.0117647, 0.0117647)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "Aluminum_Brushed_90___1__1_023"
                 {
+                    token outputs:surface.connect = </visuals/wrist_1_link/wrist_1_link_textured/Looks/Aluminum_Brushed_90___1__1_023/PreviewSurface.outputs:surface>
+
                     over "Aluminum_Brushed_90___1__1_023"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.792157, 0.819608, 0.933333)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
             }
         }
@@ -320,34 +572,82 @@ over "visuals"
             {
                 over "Rubber__1__1___1_016"
                 {
+                    token outputs:surface.connect = </visuals/wrist_2_link/wrist_2_link_textured/Looks/Rubber__1__1___1_016/PreviewSurface.outputs:surface>
+
                     over "Rubber__1__1___1_016"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.0004, 0.0004, 0.0004)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "Hard_Rough_Plastic_Orange___1_019"
                 {
+                    token outputs:surface.connect = </visuals/wrist_2_link/wrist_2_link_textured/Looks/Hard_Rough_Plastic_Orange___1_019/PreviewSurface.outputs:surface>
+
                     over "Hard_Rough_Plastic_Orange___1_019"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (1, 0.235031, 0.00221455)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "New_Arm_Hard_Anodise_Black__1_033"
                 {
+                    token outputs:surface.connect = </visuals/wrist_2_link/wrist_2_link_textured/Looks/New_Arm_Hard_Anodise_Black__1_033/PreviewSurface.outputs:surface>
+
                     over "New_Arm_Hard_Anodise_Black__1_033"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.0117647, 0.0117647, 0.0117647)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "Aluminum_Brushed_90___1__1_021"
                 {
+                    token outputs:surface.connect = </visuals/wrist_2_link/wrist_2_link_textured/Looks/Aluminum_Brushed_90___1__1_021/PreviewSurface.outputs:surface>
+
                     over "Aluminum_Brushed_90___1__1_021"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.792157, 0.819608, 0.933333)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
             }
         }
@@ -375,42 +675,102 @@ over "visuals"
             {
                 over "Aluminum_Rough___1__1"
                 {
+                    token outputs:surface.connect = </visuals/wrist_3_link/wrist_3_link_textured/Looks/Aluminum_Rough___1__1/PreviewSurface.outputs:surface>
+
                     over "Aluminum_Rough___1__1"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.792157, 0.819608, 0.933333)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "New_Arm_Hard_Anodise_Black__1_005"
                 {
+                    token outputs:surface.connect = </visuals/wrist_3_link/wrist_3_link_textured/Looks/New_Arm_Hard_Anodise_Black__1_005/PreviewSurface.outputs:surface>
+
                     over "New_Arm_Hard_Anodise_Black__1_005"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.0117647, 0.0117647, 0.0117647)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "Hard_Rough_Plastic_White__1"
                 {
+                    token outputs:surface.connect = </visuals/wrist_3_link/wrist_3_link_textured/Looks/Hard_Rough_Plastic_White__1/PreviewSurface.outputs:surface>
+
                     over "Hard_Rough_Plastic_White__1"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (1, 1, 1)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "New_Arm_Hard_Anodise_Black__1_006"
                 {
+                    token outputs:surface.connect = </visuals/wrist_3_link/wrist_3_link_textured/Looks/New_Arm_Hard_Anodise_Black__1_006/PreviewSurface.outputs:surface>
+
                     over "New_Arm_Hard_Anodise_Black__1_006"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.0117647, 0.0117647, 0.0117647)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
 
                 over "Aluminum_Brushed_90___1__1_005"
                 {
+                    token outputs:surface.connect = </visuals/wrist_3_link/wrist_3_link_textured/Looks/Aluminum_Brushed_90___1__1_005/PreviewSurface.outputs:surface>
+
                     over "Aluminum_Brushed_90___1__1_005"
                     {
                         float inputs:metallic_factor = 0.5
                     }
+
+                    def Shader "PreviewSurface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.792157, 0.819608, 0.933333)
+                        float inputs:ior = 1.45
+                        float inputs:metallic = 0.5
+                        float inputs:roughness = 0.5527864
+                        token outputs:surface
+                    }
                 }
             }
         }