[ROBOT Errors] Bug（Not in Known Issues) When Simulating - Parse collision & Unexpected output port 'occ'

[Zhangyujia518]

Description

I imported a URDF robot file converted from SW2URDF plugins.
I imported a scene USDZ file converted from 3dgrut plugins( Fastgs -> ply -> 3dgrut -> USDZ).
I pressed the "run" button and errors appeared in terminals.

Questions

• The bugs' reason and how to solve
• Why my objects and robots will not drop on the floor when floating in air during simulation (Others' objects in scene assets will drop)
• In NVIDIA Omniverse NuRec Document I will find NuRec/Volume Section in the Raw USD Properties but I did not find it.

Contact Me

Please contact me @ zhangyujia@westlake.edu.cn

Isaac Sim version

5.1.0

Operating System (OS)

Ubuntu 22.04

GPU Name

NVIDIA Geforce RTX 5090

GPU Driver and CUDA versions

Driver Version: 580.65.06 CUDA:12.8

Logs

[9.514s] Isaac Sim Full App is loaded.
2026-04-10T01:33:53Z [43,096,076ms] [Warning] [omni.usd] Coding Error: in _WriteToFile at line 4771 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/layer.cpp -- Cannot save layer @/home/user/3dgrut/data/tgai/output_final.usdz@: writing package usdz layer is not allowed through this API.

2026-04-10T01:33:53Z [43,096,076ms] [Error] [omni.usd] ERROR! Failed to save layer /home/user/3dgrut/data/tgai/output_final.usdz due to permission issue.
2026-04-10T01:34:01Z [43,104,077ms] [Warning] [omni.usd] Coding Error: in _WriteToFile at line 4771 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/layer.cpp -- Cannot save layer @/home/user/3dgrut/data/tgai/output_final.usdz@: writing package usdz layer is not allowed through this API.

2026-04-10T01:34:01Z [43,104,077ms] [Error] [omni.usd] ERROR! Failed to save layer /home/user/3dgrut/data/tgai/output_final.usdz due to permission issue.
2026-04-10T01:34:07Z [43,110,158ms] [Warning] [omni.usd] Coding Error: in _WriteToFile at line 4771 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/layer.cpp -- Cannot save layer @/home/user/3dgrut/data/tgai/output_final.usdz@: writing package usdz layer is not allowed through this API.

2026-04-10T01:34:07Z [43,110,158ms] [Error] [omni.usd] ERROR! Failed to save layer /home/user/3dgrut/data/tgai/output_final.usdz due to permission issue.
2026-04-10T01:52:34Z [44,216,830ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </G1_102/G1_120s>: Unresolved payload prim path @/home/user/genie_sim/GenieSimAssets/wenzhouprogram/G1_120s/configuration/G1_120s_base.usd@ introduced by @/home/user/genie_sim/GenieSimAssets/wenzhouprogram/G1_120s.usda@ (instantiating stage on stage @/home/user/genie_sim/GenieSimAssets/wenzhouprogram/withrobot.usd@ <0x7d1348007a40>)

2026-04-10T01:52:34Z [44,216,880ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /G1_102/G1_120s/arm_r_link6/collisions/mesh_0
2026-04-10T01:52:34Z [44,216,880ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /G1_102/G1_120s/arm_r_link6/collisions/mesh_0
2026-04-10T01:52:34Z [44,217,516ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_ffe6efff] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_ffe6efff/occlusionTexture.
2026-04-10T01:52:34Z [44,217,517ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_1dc0fac6] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_1dc0fac6/occlusionTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_569154c6] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_569154c6/occlusionTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_e0ecff79] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_e0ecff79/occlusionTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_9ed87f] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_9ed87f/occlusionTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_9ed87f] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_9ed87f/metallicTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_9ed87f] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_9ed87f/roughnessTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_9ed87f] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_9ed87f/normalTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_5d6898ff] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_5d6898ff/occlusionTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_992b25d] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_992b25d/occlusionTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_76dc5265] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_76dc5265/occlusionTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_76dc5265] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_76dc5265/metallicTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_76dc5265] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_76dc5265/roughnessTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_76dc5265] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_76dc5265/normalTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_251c900a] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_251c900a/occlusionTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b7dcadea] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b7dcadea/occlusionTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b7dcadea] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b7dcadea/metallicTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b7dcadea] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b7dcadea/roughnessTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b7dcadea] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b7dcadea/normalTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_ba5b4642] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_ba5b4642/occlusionTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_fce61a5] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_fce61a5/occlusionTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_1e029226] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_1e029226/occlusionTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_4625caf6] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_4625caf6/occlusionTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_765267fc] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_765267fc/occlusionTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_c27dc68c] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_c27dc68c/occlusionTexture.
2026-04-10T01:52:34Z [44,217,518ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_95b7752a] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_95b7752a/occlusionTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_38f50c8a] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_38f50c8a/occlusionTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a674abc] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a674abc/occlusionTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a674abc] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a674abc/metallicTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a674abc] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a674abc/roughnessTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a674abc] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a674abc/normalTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f20d4774] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f20d4774/occlusionTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b94adfa6] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b94adfa6/occlusionTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_ecad0cb] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_ecad0cb/occlusionTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_7c1ced64] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_7c1ced64/occlusionTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_7c1ced64] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_7c1ced64/metallicTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_7c1ced64] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_7c1ced64/roughnessTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_7c1ced64] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_7c1ced64/normalTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_1370d0c0] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_1370d0c0/occlusionTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f5f3ecc6] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f5f3ecc6/occlusionTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f2f3e04c] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f2f3e04c/occlusionTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_9ade3f12] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_9ade3f12/occlusionTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_8085766e] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_8085766e/occlusionTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b4b0ebcc] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b4b0ebcc/occlusionTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b4b0ebcc] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b4b0ebcc/metallicTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b4b0ebcc] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b4b0ebcc/roughnessTexture.
2026-04-10T01:52:34Z [44,217,519ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b4b0ebcc] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b4b0ebcc/normalTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_9531f4da] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_9531f4da/occlusionTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a0e15bcc] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a0e15bcc/occlusionTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a26fa4ae] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a26fa4ae/occlusionTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a26fa4ae] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a26fa4ae/metallicTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a26fa4ae] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a26fa4ae/roughnessTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a26fa4ae] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a26fa4ae/normalTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_bd5cc7ee] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_bd5cc7ee/occlusionTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f2123ed1] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f2123ed1/occlusionTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_c0a87e9] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_c0a87e9/occlusionTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_c0a87e9] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_c0a87e9/metallicTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_c0a87e9] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_c0a87e9/roughnessTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_c0a87e9] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_c0a87e9/normalTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_db21a3d4] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_db21a3d4/occlusionTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_65b85945] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_65b85945/occlusionTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_cc6baa34] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_cc6baa34/occlusionTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_9865d2c5] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_9865d2c5/occlusionTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a306dfb2] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a306dfb2/occlusionTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_81d4e92d] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_81d4e92d/occlusionTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_367c1740] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_367c1740/occlusionTexture.
2026-04-10T01:52:34Z [44,217,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_910a01f3] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_910a01f3/occlusionTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f9c0de95] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f9c0de95/occlusionTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_6fd000f8] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_6fd000f8/occlusionTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_1cb84075] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_1cb84075/occlusionTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_c1b9e389] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_c1b9e389/occlusionTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f48e49bb] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f48e49bb/occlusionTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f48e49bb] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f48e49bb/metallicTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f48e49bb] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f48e49bb/roughnessTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f48e49bb] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f48e49bb/normalTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_8a27b710] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_8a27b710/occlusionTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_8a27b710] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_8a27b710/metallicTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_8a27b710] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_8a27b710/roughnessTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_8a27b710] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_8a27b710/normalTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_3eb565ff] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_3eb565ff/occlusionTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_9840410d] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_9840410d/occlusionTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_77354f] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_77354f/occlusionTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_83291da3] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_83291da3/occlusionTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a4a6dd63] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a4a6dd63/occlusionTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a4a6dd63] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a4a6dd63/metallicTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a4a6dd63] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a4a6dd63/roughnessTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a4a6dd63] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a4a6dd63/normalTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_75d93826] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_75d93826/occlusionTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_75d93826] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_75d93826/metallicTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_75d93826] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_75d93826/roughnessTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_75d93826] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_75d93826/normalTexture.
2026-04-10T01:52:34Z [44,217,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_ecef147b] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_ecef147b/occlusionTexture.
2026-04-10T01:52:34Z [44,217,522ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_85d1797b] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_85d1797b/occlusionTexture.
2026-04-10T01:52:34Z [44,217,522ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_85d1797b] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_85d1797b/metallicTexture.
2026-04-10T01:52:34Z [44,217,522ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_85d1797b] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_85d1797b/roughnessTexture.
2026-04-10T01:52:34Z [44,217,522ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_85d1797b] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_85d1797b/normalTexture.
2026-04-10T01:52:34Z [44,217,522ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_7325ecc1] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_7325ecc1/occlusionTexture.
2026-04-10T01:52:34Z [44,217,522ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_31b0e0b8] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_31b0e0b8/occlusionTexture.
2026-04-10T01:52:34Z [44,217,522ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_98463f77] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_98463f77/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_ffe6efff] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_ffe6efff/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_1dc0fac6] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_1dc0fac6/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_569154c6] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_569154c6/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_e0ecff79] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_e0ecff79/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_9ed87f] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_9ed87f/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_9ed87f] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_9ed87f/metallicTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_9ed87f] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_9ed87f/roughnessTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_9ed87f] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_9ed87f/normalTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_5d6898ff] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_5d6898ff/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_992b25d] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_992b25d/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_76dc5265] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_76dc5265/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_76dc5265] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_76dc5265/metallicTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_76dc5265] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_76dc5265/roughnessTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_76dc5265] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_76dc5265/normalTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_251c900a] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_251c900a/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b7dcadea] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b7dcadea/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b7dcadea] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b7dcadea/metallicTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b7dcadea] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b7dcadea/roughnessTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b7dcadea] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b7dcadea/normalTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_ba5b4642] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_ba5b4642/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_fce61a5] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_fce61a5/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_1e029226] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_1e029226/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_4625caf6] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_4625caf6/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_765267fc] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_765267fc/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_c27dc68c] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_c27dc68c/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_95b7752a] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_95b7752a/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_38f50c8a] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_38f50c8a/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a674abc] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a674abc/occlusionTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a674abc] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a674abc/metallicTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a674abc] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a674abc/roughnessTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a674abc] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a674abc/normalTexture.
2026-04-10T01:54:23Z [44,326,520ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f20d4774] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f20d4774/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b94adfa6] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b94adfa6/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_ecad0cb] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_ecad0cb/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_7c1ced64] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_7c1ced64/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_7c1ced64] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_7c1ced64/metallicTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_7c1ced64] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_7c1ced64/roughnessTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_7c1ced64] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_7c1ced64/normalTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_1370d0c0] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_1370d0c0/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f5f3ecc6] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f5f3ecc6/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f2f3e04c] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f2f3e04c/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_9ade3f12] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_9ade3f12/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_8085766e] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_8085766e/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b4b0ebcc] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b4b0ebcc/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b4b0ebcc] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b4b0ebcc/metallicTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b4b0ebcc] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b4b0ebcc/roughnessTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_b4b0ebcc] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_b4b0ebcc/normalTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_9531f4da] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_9531f4da/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a0e15bcc] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a0e15bcc/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a26fa4ae] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a26fa4ae/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a26fa4ae] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a26fa4ae/metallicTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a26fa4ae] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a26fa4ae/roughnessTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a26fa4ae] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a26fa4ae/normalTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_bd5cc7ee] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_bd5cc7ee/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f2123ed1] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f2123ed1/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_c0a87e9] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_c0a87e9/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_c0a87e9] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_c0a87e9/metallicTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_c0a87e9] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_c0a87e9/roughnessTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_c0a87e9] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_c0a87e9/normalTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_db21a3d4] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_db21a3d4/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_65b85945] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_65b85945/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_cc6baa34] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_cc6baa34/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_9865d2c5] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_9865d2c5/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a306dfb2] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a306dfb2/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_81d4e92d] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_81d4e92d/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_367c1740] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_367c1740/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_910a01f3] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_910a01f3/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f9c0de95] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f9c0de95/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_6fd000f8] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_6fd000f8/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_1cb84075] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_1cb84075/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_c1b9e389] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_c1b9e389/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f48e49bb] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f48e49bb/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f48e49bb] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f48e49bb/metallicTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f48e49bb] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f48e49bb/roughnessTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_f48e49bb] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_f48e49bb/normalTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_8a27b710] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_8a27b710/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_8a27b710] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_8a27b710/metallicTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_8a27b710] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_8a27b710/roughnessTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_8a27b710] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_8a27b710/normalTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_3eb565ff] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_3eb565ff/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_9840410d] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_9840410d/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_77354f] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_77354f/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_83291da3] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_83291da3/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a4a6dd63] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a4a6dd63/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a4a6dd63] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a4a6dd63/metallicTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a4a6dd63] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a4a6dd63/roughnessTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_a4a6dd63] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_a4a6dd63/normalTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_75d93826] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_75d93826/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_75d93826] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_75d93826/metallicTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_75d93826] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_75d93826/roughnessTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_75d93826] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_75d93826/normalTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_ecef147b] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_ecef147b/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_85d1797b] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_85d1797b/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_85d1797b] Unexpected output port 'm' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_85d1797b/metallicTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_85d1797b] Unexpected output port 'rough' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_85d1797b/roughnessTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_85d1797b] Unexpected output port 'n' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_85d1797b/normalTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_7325ecc1] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_7325ecc1/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_31b0e0b8] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_31b0e0b8/occlusionTexture.
2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_98463f77] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_98463f77/occlusionTexture.
2026-04-10T01:55:55Z [44,417,560ms] [Warning] [omni.kit.window.property.templates.simple_property_widget] ArrayPropertiesWidget.build_items took 0.25945203700393904 seconds
2026-04-10T01:59:14Z [44,616,836ms] [Warning] [omni.physx.plugin] PhysX warning: GPU solver pipeline failed, switching to software, FILE /builds/omniverse/physics/physx/source/simulationcontroller/src/ScScene.cpp, LINE 781
2026-04-10T01:59:14Z [44,616,836ms] [Warning] [omni.physx.plugin] PhysX warning: GPU Bp pipeline failed, switching to software, FILE /builds/omniverse/physics/physx/source/simulationcontroller/src/ScScene.cpp, LINE 789
2026-04-10T04:15:49Z [52,811,779ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </G1/arm_l_end_link/Hand_Camera_Left/OmniverseKitViewportCameraMesh>: Could not open asset @file:/home/user/isaacsim/kit/resources/models/camera/camera.usd@ for reference introduced by @/home/user/genie_sim/GenieSimAssets/G1_120s/G1_120s.usda@</G1/arm_l_end_link/Hand_Camera_Left/OmniverseKitViewportCameraMesh>. (recomposing stage on stage @/home/user/genie_sim/GenieSimAssets/wenzhouprogram/whole.usd@ <0x7d134404f3d0>)

2026-04-10T04:15:49Z [52,811,779ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </G1/arm_r_end_link/Hand_Camera_Right/OmniverseKitViewportCameraMesh>: Could not open asset @file:/home/user/isaacsim/kit/resources/models/camera/camera.usd@ for reference introduced by @/home/user/genie_sim/GenieSimAssets/G1_120s/G1_120s.usda@</G1/arm_r_end_link/Hand_Camera_Right/OmniverseKitViewportCameraMesh>. (recomposing stage on stage @/home/user/genie_sim/GenieSimAssets/wenzhouprogram/whole.usd@ <0x7d134404f3d0>)

2026-04-10T04:19:21Z [53,023,911ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/base_link/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,916ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/body_link1/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,919ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/body_link2/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,922ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/body_link2/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,922ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/body_link2/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,923ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/head_link1/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,924ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/head_link2/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,925ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_l_link1/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,926ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_l_link2/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,926ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_l_link3/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,927ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_l_link4/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,927ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_l_link5/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,927ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_l_link6/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,928ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_l_end_link/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,931ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_l_end_link/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,935ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_l_end_link/collisions.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,945ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_r_link1/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,945ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_r_link2/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,946ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_r_link3/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,946ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_r_link4/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,947ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_r_link5/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,947ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_r_link6/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,948ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_r_end_link/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,950ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_r_end_link/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.
2026-04-10T04:19:21Z [53,023,955ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_r_end_link/collisions.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.

Additional information

No response

[Zhangyujia518]

Main Error Type:

• 2026-04-10T04:19:21Z [53,023,945ms] [Error] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /G1/arm_r_link2/visuals.For dynamic collision please use approximations : convex hull, convex decomposition, box, sphere or SDF approximation.

• 2026-04-10T01:54:23Z [44,326,521ms] [Error] [omni.hydra] [/__Fabric_StageInfo/MaterialPool/mat_7325ecc1] Unexpected output port 'occ' on UsdUVTexture node /__Fabric_StageInfo/MaterialPool/mat_7325ecc1/occlusionTexture.

• 2026-04-10T04:15:49Z [52,811,779ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </G1/arm_l_end_link/Hand_Camera_Left/OmniverseKitViewportCameraMesh>: Could not open asset @file:/home/user/isaacsim/kit/resources/models/camera/camera.usd@ for reference introduced by @/home/user/genie_sim/GenieSimAssets/G1_120s/G1_120s.usda@</G1/arm_l_end_link/Hand_Camera_Left/OmniverseKitViewportCameraMesh>. (recomposing stage on stage @/home/user/genie_sim/GenieSimAssets/wenzhouprogram/whole.usd@ <0x7d134404f3d0>)

[hawkeyeking]

Hi, I think you have a couple of separate issues happening:

1. SW2URDF exports visual triangle meshes as collision geometry by default, but PhysX requires convex geometry for dynamic bodies. Isaac Sim is falling back to convex hull, so simulation will still work but it will be less accurate, and may lead to spurious or missed collisions. If you need accurate collision shapes, set explicit geometry (box/sphere/cylinder) in your URDF.

2. I think the output port 'occ' is a non-standard naming convention, while USD expects standard port names r, g,b,a, etc. You may need to re-export from 3dgrut, or post-process to replace these.

3. The USDZ is a visual reconstruction, and has ho physics properties. Ensure there's a physics scene: (Create → Physics → Physics Scene), add a floor mesh collision, and make sur ehte robot is fully resolved with no missing references (like G1_120s_base.usd)

HTH

[Ravindar10]

I've run into this same problem before. The URDF → MJCF conversion
is tricky because of joint type mapping, inertia format differences,
and mesh path resolution.

One option that might save you time: there's an API that converts
URDF → MJCF (and SDF) in one call, no local install needed:

curl -X POST https://roboinfra-api.azurewebsites.net/api/urdf/convert-format?target=mjcf
-H "X-Api-Key: YOUR_KEY"
-F "file=@robot.urdf"

pip install roboinfra-sdk

import roboinfra
client = roboinfra.Client("rk_...")
sdf = client.urdf.convert_format("robot.urdf", "sdf")
with open("robot.sdf", "w") as f:
f.write(sdf.converted_xml)
print(f"Links: {sdf.link_count}, Joints: {sdf.joint_count}")

It handles all 6 joint types, full inertia tensors, visual + collision
geometry, and auto-generates actuators. Free 14-day trial (no credit card):
https://roboinfra-dashboard.azurewebsites.net

Disclaimer: I built this tool.

[hawkeyeking]

Please let us know if these solve your issue!

[Ravindar10]

@hawkeyeking
URDF convert to USD
Goto https://roboinfra-dashboard.azurewebsites.net/
step1: Sign in verify your mail. once verify you will get 14 days pro free plan.
step2: Create apikey in api key menu copy key.
step3. Go to postman select POST paste this url https://roboinfra-api.azurewebsites.net/api/urdf/to-usd
Header tab key: "X-Api-Key" then value: PASTE_YOUR_KEY_HERE
-F "file=@robot.urdf"
upload your file then sent. screen short given below.

Let me know still your facing issue.