Add SimReady package: M20S

M20S/.metadata/M20S_benchmark.json

@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0",
   "asset": "M20S",
-  "run_timestamp": "2026-10-22T16:12:09Z",
+  "run_timestamp": "2026-10-22T16:43:26Z",
   "passed": false,
   "results": [
     {
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 21.32,
+      "duration": 36.666,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
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+          "value": 26.518,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 986.32,
+          "value": 1657.39,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.172,
+          "value": 1.47,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -106,11 +106,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.002941,
+          "value": 0.002964,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 0.000386,
+          "value": 0.00037,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -130,11 +130,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 21.477,
+      "duration": 33.438,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 15.971,
+          "value": 24.188,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -142,11 +142,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 998.19,
+          "value": 1511.78,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.143,
+          "value": 1.282,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -154,7 +154,7 @@
           "unit": null
         },
         "_render_blank_retry_count": {
-          "value": 17,
+          "value": 16,
           "unit": null
         },
         "_render_blank_retry_unrecovered": {
@@ -169,10 +169,6 @@
           "value": "attempts=6 recovered=False",
           "unit": null
         },
-        "_render_blank_retry[culling_xz_on_001.png]": {
-          "value": "attempts=1 recovered=True",
-          "unit": null
-        },
         "_render_blank_retry[culling_xz_off_002.png]": {
           "value": "attempts=6 recovered=False",
           "unit": null
@@ -230,11 +226,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.002949,
+          "value": 0.002965,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 0.000369,
+          "value": 0.000371,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -320,7 +316,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 27.899,
+      "duration": 33.446,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -336,19 +332,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
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+          "value": 8.081,
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         "_timing_capture_frame_count": {
-          "value": 41,
+          "value": 37,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 201.23,
+          "value": 218.41,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.681,
+          "value": 1.974,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -364,11 +360,11 @@
           "unit": null
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         "dgv_joints_passed": {
-          "value": 14,
+          "value": 12,
           "unit": null
         },
         "dgv_joints_failed": {
-          "value": 2,
+          "value": 4,
           "unit": null
         }
       },
@@ -380,7 +376,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 106.199,
+      "duration": 100.542,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -396,19 +392,19 @@
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         },
         "_timing_capture_frame_total_s": {
-          "value": 25.457,
+          "value": 22.261,
           "unit": null
         },
         "_timing_capture_frame_count": {
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+          "value": 96,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 219.46,
+          "value": 231.88,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 4.351,
+          "value": 4.014,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -424,11 +420,11 @@
           "unit": null
         },
         "dgv_joints_passed": {
-          "value": 16,
+          "value": 12,
           "unit": null
         },
         "dgv_joints_failed": {
-          "value": 0,
+          "value": 4,
           "unit": null
         }
       },
@@ -506,7 +502,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 286.453,
+      "duration": 350.828,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -522,7 +518,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
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+          "value": 77.23,
           "unit": null
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         "_timing_capture_frame_count": {
@@ -530,11 +526,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 184.84,
+          "value": 201.12,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 12.647,
+          "value": 14.727,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -570,7 +566,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 362.285,
+      "duration": 421.949,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -586,7 +582,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 75.844,
+          "value": 81.737,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -594,11 +590,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 197.51,
+          "value": 212.86,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 13.188,
+          "value": 14.704,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -694,81 +690,13 @@
         }
       ]
     },
-    {
-      "test_name": "full_range_sweep",
-      "engine": "isaac_sim",
-      "engine_version": "6.1.0.0",
-      "status": "fail",
-      "passed": false,
-      "duration": 550.985,
-      "message": "FRS: 5/16 joints failed the full-range sweep.\n  Failing joints: fr_hipy_joint, fl_wheel_joint, fr_wheel_joint, hl_wheel_joint, hr_wheel_joint\n\nEach failing joint has one or more per-joint warnings above with its specific\nfailure mode (bbox explode, rest violation at a commanded target, or zero-return\nerror) and a four-to-six-item inspection checklist for the drive gains, drive\nmaxForce, joint limits, and mimic-status of that joint. Walk those first.\n\nQUICK TRIAGE:\n  - If most or all joints fail with rest-violation or zero-return errors: the\n    asset-wide drive tuning is off. Most likely cause is uniformly low stiffness\n    or damping authored across all driven joints, or a configuration mistake\n    (e.g. drive:linear gains on a revolute joint, or vice versa). Spot-check\n    drive:<axis>:physics:stiffness / damping / maxForce on every driven joint\n    prim. DJ.006 ranges: stiffness 100-10000, damping 1-100.\n  - If exactly one or two joints fail: those joints' drive gains or limits are\n    the most likely culprit. Edit the joint prims in USD against the per-joint\n    warnings above.\n  - If failures cite bbox explode: the test detected runaway motion, not a tuning\n    issue alone. Check link mass / inertia, articulation root pinning, and that\n    FET022 per-body gravity disable applied (look for 'articulation.disable_gravity'\n    in RobotHandle.initialize logs).\n  - If failures cite zero-return only (no rest, no bbox): drives are likely under-\n    stiff or under-damped. Bump stiffness/damping by 2x and re-run before chasing\n    deeper authoring issues.\n\nConfiguration overrides (in the FRS phase config) when failures reflect test\npolicy rather than authoring:\n  - 'pause_at_limits_seconds' (default 0.15): widen the rest window for slow-\n    settling drives.\n  - 'rest_check_fatal' (default True): endpoint hold failures contribute to the\n    verdict. Set False only for an explicitly diagnostic run.\n  - 'zero_return_tolerance' (default 0.01): relax only for backlash-heavy hardware.\n\nREFERENCE:\n  Feature:   nv_core/sr_specs/docs/shared/features/FET_022-driven_joints.md\n  Drive:     nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/\n             physics-drive-and-joint-state.md (DJ.001 -- maxForce > 0)\n             drive-joint-value-reasonable.md  (DJ.006 -- stiffness/damping ranges)\n             physics-joint-max-velocity.md    (DJ.005 -- maxJointVelocity > 0)\n  Joints:    nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_joints/requirements/\n             joint-body-target-exists.md\n  Example:   sample_content/common_assets/robots_general/Franka/FrankaResearch3/\n             simready_isaac_usd/FrankaResearch3.usda\n             (search for: physics:lowerLimit, physics:upperLimit,\n              drive:angular:physics:stiffness)",
-      "metrics": {
-        "frs_total_dofs": {
-          "value": 16,
-          "unit": null
-        },
-        "frs_joints_tested": {
-          "value": 16,
-          "unit": null
-        },
-        "frs_passive_joints_skipped": {
-          "value": 0,
-          "unit": null
-        },
-        "frs_loop_joints_skipped": {
-          "value": 0,
-          "unit": null
-        },
-        "frs_bbox_baseline_volume": {
-          "value": 0.03427041119404323,
-          "unit": null
-        },
-        "_timing_capture_frame_total_s": {
-          "value": 102.292,
-          "unit": null
-        },
-        "_timing_capture_frame_count": {
-          "value": 480,
-          "unit": null
-        },
-        "_timing_capture_frame_avg_ms": {
-          "value": 213.11,
-          "unit": null
-        },
-        "_timing_encode_video_total_s": {
-          "value": 16.174,
-          "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": 11,
-          "unit": null
-        },
-        "frs_joints_failed": {
-          "value": 5,
-          "unit": null
-        }
-      },
-      "kit_logs": []
-    },
     {
       "test_name": "ground_drop",
       "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 28.016,
+      "duration": 34.498,
       "message": "",
       "metrics": {
         "ground_drop_initial_z_min": {
@@ -784,7 +712,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 9.469,
+          "value": 10.84,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -792,11 +720,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 210.42,
+          "value": 240.88,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.833,
+          "value": 2.138,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -836,7 +764,73 @@
           "unit": null
         }
       },
-      "kit_logs": []
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
     },
     {
       "test_name": "ground_drop",
@@ -844,7 +838,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 52.632,
+      "duration": 63.94,
       "message": "",
       "metrics": {
         "ground_drop_initial_z_min": {
@@ -860,7 +854,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 10.086,
+          "value": 11.971,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -868,11 +862,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 210.13,
+          "value": 249.4,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.078,
+          "value": 2.369,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -980,147 +974,17 @@
         }
       ]
     },
-    {
-      "test_name": "ik_target_reach",
-      "engine": "isaac_sim",
-      "engine_version": "6.1.0.0",
-      "status": "skipped",
-      "passed": false,
-      "duration": 1.187,
-      "message": "IK Target Reach phase cannot run: no Lula kinematics descriptor matched this asset.\n\n  Found:    asset_path='<home>/nvidia-submission/simready-tools/assets/M20S/simready_usd/M20S.usd'\n            isaac:robotType='LEGGED'\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": "fail",
-      "passed": false,
-      "duration": 62.028,
-      "message": "JIK: in-reach pass rate 0.00 below minimum 0.40 -- the asset's\narticulation could not reach enough generated targets to pass.\n\nWhat the test found:\n  - 0 / 5 in-reach targets passed.\n  - 5 failed because the DLS solver could not find a joint\n    solution (red sphere in the captured video).\n  - 0 failed because the solver succeeded but the PD drives did\n    not track the precomputed solution to within tolerance\n    (orange sphere).\n  - Worst position error: inf m (tolerance 0.050 m).\n  - Worst orientation error: inf deg (tolerance 10.00 deg).\n  - End-effector under test: /World/AssetRoot/Asset/hr_wheel.\n  - Failed targets: target_0, target_1, target_2, target_3, target_4.\n\nFIX -- triage in this order:\n\n  1) Open the captured video. Targets coloured RED never had a\n     joint solution. Targets coloured ORANGE had a solution but\n     the robot did not get there -- a drive-tuning problem.\n\n  2) For ORANGE (motion failed) on a `PhysicsRevoluteJoint`,\n     inspect drive stiffness / damping on each joint. Industrial\n     arms typically need:\n\n         def PhysicsRevoluteJoint \"joint_3\" (\n             prepend apiSchemas = [\"PhysicsDriveAPI:angular\"]\n         )\n         {\n             # Example values for a 25 kg-link arm; scale with\n             # link inertia. Stiffness too low -> drift; too\n             # high -> oscillation.\n             float drive:angular:physics:stiffness = 10000.0\n             float drive:angular:physics:damping   = 1000.0\n             float drive:angular:physics:maxForce  = 1000.0\n         }\n\n  3) For RED (solver failed), the Jacobian is singular or the\n     joint limits are too tight. Verify each joint declares\n     non-zero limits:\n\n         float physics:lowerLimit = -180.0\n         float physics:upperLimit =  180.0\n\n     and that the EE link (/World/AssetRoot/Asset/hr_wheel) is the LAST link in the chain --\n     a tip link with no preceding revolute joint cannot be\n     reached by a Jacobian solver.\n\n  4) Asset fix: Tune drive stiffness/damping so each joint can hold its\n     commanded position under JIK's smoothstep motion -- start\n     by doubling stiffness on the joint(s) showing the largest\n     tracking error in the video.\n\n  5) Engine note: JIK uses a damped least-squares Jacobian solver with USD\n     forward kinematics; ensure the asset's joints are exposed\n     in the SingleArticulation's `dof_names`.\n\n  6) TEST-CONFIG escape hatches (use only when the asset is\n     genuinely correct but the defaults are wrong for it):\n     - Reduce `target_radius_factors` (default (0.5, 0.7, 0.9))\n       when the bbox-based reach estimate overshoots the actual\n       workspace (common on non-extended / folded arms).\n     - Loosen `position_tolerance` / `orientation_tolerance_deg`\n       (defaults 0.05 m / 10 deg) when the asset's PD drive has\n       intentional steady-state error.\n     - Increase `max_solver_iterations` (default 50) when DLS\n       convergence is slow on long-armed or heavily damped\n       robots.\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_joints/requirements/articulation.md\n             nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_joints/requirements/joint-body-target-exists.md\n             nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/hierarchy/requirements/kinematic-chain-hierarchy.md\n  Example:   sample_content/common_assets/robots_general/Franka/Franka.usda\n             (search for: PhysicsArticulationRootAPI, PhysicsRevoluteJoint)",
-      "metrics": {
-        "jik_robot_reach": {
-          "value": 0.587,
-          "unit": null
-        },
-        "jik_target_radius": {
-          "value": 0.5283,
-          "unit": null
-        },
-        "jik_base_position_x": {
-          "value": -0.0002,
-          "unit": null
-        },
-        "jik_base_position_y": {
-          "value": -0.0002,
-          "unit": null
-        },
-        "jik_base_position_z": {
-          "value": 0.59,
-          "unit": null
-        },
-        "jik_max_observed_reach": {
-          "value": 0.6429,
-          "unit": null
-        },
-        "jik_distinct_reachable_targets": {
-          "value": 5,
-          "unit": null
-        },
-        "jik_bbox_baseline_volume": {
-          "value": 0.155865,
-          "unit": null
-        },
-        "jik_total_iterations": {
-          "value": 0,
-          "unit": null
-        },
-        "jik_targets_generated": {
-          "value": 7,
-          "unit": null
-        },
-        "jik_targets_reached": {
-          "value": 0,
-          "unit": null
-        },
-        "jik_targets_total_passed": {
-          "value": 2,
-          "unit": null
-        },
-        "jik_targets_in_reach": {
-          "value": 5,
-          "unit": null
-        },
-        "jik_targets_out_of_reach": {
-          "value": 2,
-          "unit": null
-        },
-        "jik_in_reach_failed": {
-          "value": 5,
-          "unit": null
-        },
-        "jik_in_reach_passed_green": {
-          "value": 0,
-          "unit": null
-        },
-        "jik_in_reach_solver_failed_red": {
-          "value": 5,
-          "unit": null
-        },
-        "jik_in_reach_motion_failed_orange": {
-          "value": 0,
-          "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": Infinity,
-          "unit": null
-        },
-        "jik_max_orientation_error_deg": {
-          "value": Infinity,
-          "unit": null
-        },
-        "jik_pass_rate": {
-          "value": 0.0,
-          "unit": null
-        },
-        "jik_ee_link": {
-          "value": "/World/AssetRoot/Asset/hr_wheel",
-          "unit": null
-        }
-      },
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "omni.physx.plugin",
-          "message": "PhysX error: PxArticulationJointReducedCoordinate::setDriveTarget() only supports target angle in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE ./builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 393"
-        },
-        {
-          "level": "error",
-          "channel": "omni.physx.plugin",
-          "message": "PhysX error: Exceeding maximum number of PhysX errors (1000). omni.physx will ignore logging subsequent errors to user interface until simulation stop"
-        }
-      ]
-    },
     {
       "test_name": "joint_movement",
       "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 69.888,
+      "duration": 84.849,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 11.121,
+          "value": 12.818,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1128,11 +992,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 247.12,
+          "value": 284.85,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.998,
+          "value": 2.201,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1488,11 +1352,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 47.402,
+      "duration": 55.362,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 9.418,
+          "value": 10.795,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1500,11 +1364,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 209.28,
+          "value": 239.9,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.861,
+          "value": 2.016,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1852,47 +1716,113 @@
           "unit": null
         }
       },
-      "kit_logs": []
-    },
-    {
-      "test_name": "light_response",
-      "engine": "isaac_sim",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 12.749,
-      "message": "",
-      "metrics": {
-        "_timing_capture_frame_total_s": {
-          "value": 4.328,
-          "unit": null
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
         },
-        "_timing_capture_frame_count": {
-          "value": 30,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
         },
-        "_timing_capture_frame_avg_ms": {
-          "value": 144.26,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
         },
-        "_timing_encode_video_total_s": {
-          "value": 1.228,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
         },
-        "_timing_encode_video_count": {
-          "value": 1,
-          "unit": null
+        {
+          "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"
         },
-        "_render_blank_retry_count": {
-          "value": 0,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 14.35,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.653,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 155.09,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.336,
+          "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": 0.896552,
+          "value": 0.862069,
           "unit": null
         },
         "light_response_blank_ratio": {
@@ -1912,7 +1842,7 @@
           "unit": null
         },
         "light_response_different_pairs": {
-          "value": 26,
+          "value": 25,
           "unit": null
         },
         "light_response_passed": {
@@ -1920,11 +1850,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.744356,
+          "value": 0.74629,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.035113,
+          "value": 0.03535,
           "unit": null
         }
       },
@@ -1936,11 +1866,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 12.667,
+      "duration": 13.989,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.092,
+          "value": 4.499,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1948,11 +1878,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 136.39,
+          "value": 149.96,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.191,
+          "value": 1.295,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1968,7 +1898,7 @@
           "unit": null
         },
         "light_response_variation_ratio": {
-          "value": 0.862069,
+          "value": 0.896552,
           "unit": null
         },
         "light_response_blank_ratio": {
@@ -1988,7 +1918,7 @@
           "unit": null
         },
         "light_response_different_pairs": {
-          "value": 25,
+          "value": 26,
           "unit": null
         },
         "light_response_passed": {
@@ -1996,11 +1926,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.74865,
+          "value": 0.748422,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.033238,
+          "value": 0.033681,
           "unit": null
         }
       },
@@ -2072,101 +2002,17 @@
         }
       ]
     },
-    {
-      "test_name": "mimic_joint",
-      "engine": "isaac_sim",
-      "engine_version": "6.1.0.0",
-      "status": "skipped",
-      "passed": false,
-      "duration": 1.227,
-      "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": "fail",
-      "passed": false,
-      "duration": 14.134,
-      "message": "Test setup/runtime error (AttributeError): 'NoneType' object has no attribute 'joint_positions'",
-      "metrics": {
-        "mjc_total_joints": {
-          "value": 16,
-          "unit": null
-        },
-        "mjc_valid_joints": {
-          "value": 16,
-          "unit": null
-        },
-        "mjc_loop_joints_skipped": {
-          "value": 0,
-          "unit": null
-        },
-        "_timing_capture_frame_total_s": {
-          "value": 3.49,
-          "unit": null
-        },
-        "_timing_capture_frame_count": {
-          "value": 16,
-          "unit": null
-        },
-        "_timing_capture_frame_avg_ms": {
-          "value": 218.1,
-          "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
-        }
-      },
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "omni.physxui.scripts.extension",
-          "message": "PhysX has reported too many errors, simulation has been stopped."
-        },
-        {
-          "level": "error",
-          "channel": "omni.physx.plugin",
-          "message": "PhysX error: PxArticulationJointReducedCoordinate::setDriveTarget() only supports target angle in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE ./builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 393"
-        },
-        {
-          "level": "error",
-          "channel": "omni.physx.plugin",
-          "message": "PhysX error: Exceeding maximum number of PhysX errors (1000). omni.physx will ignore logging subsequent errors to user interface until simulation stop"
-        }
-      ]
-    },
     {
       "test_name": "normals_xz",
       "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 11.459,
+      "duration": 12.9,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 7.883,
+          "value": 9.026,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2174,11 +2020,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 985.34,
+          "value": 1128.23,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.498,
+          "value": 0.556,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2230,11 +2076,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.001507,
+          "value": 0.00163,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.007764,
+          "value": 0.008724,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -2320,11 +2166,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 11.375,
+      "duration": 12.619,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 7.827,
+          "value": 8.71,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2332,11 +2178,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 978.35,
+          "value": 1088.74,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.505,
+          "value": 0.606,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2388,11 +2234,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.001498,
+          "value": 0.001951,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.008623,
+          "value": 0.010111,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -2478,11 +2324,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 8.088,
+      "duration": 9.518,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.856,
+          "value": 3.256,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2490,11 +2336,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 142.79,
+          "value": 162.82,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.368,
+          "value": 1.526,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2538,73 +2384,7 @@
           "unit": null
         }
       },
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: Traceback (most recent call last):"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
-        }
-      ]
+      "kit_logs": []
     },
     {
       "test_name": "pivot",
@@ -2612,11 +2392,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 8.088,
+      "duration": 9.64,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.972,
+          "value": 3.341,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2624,11 +2404,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 148.61,
+          "value": 167.03,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.314,
+          "value": 1.461,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2746,11 +2526,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.206,
+      "duration": 3.892,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.219,
+          "value": 1.449,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2758,7 +2538,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 609.26,
+          "value": 724.45,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2786,7 +2566,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.176565,
+          "value": 0.176562,
           "unit": null
         },
         "presence_passed": {
@@ -2868,11 +2648,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.417,
+      "duration": 3.63,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.26,
+          "value": 1.396,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2880,7 +2660,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 630.11,
+          "value": 697.76,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2908,7 +2688,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.176558,
+          "value": 0.176539,
           "unit": null
         },
         "presence_passed": {
@@ -2990,11 +2770,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.085,
+      "duration": 3.353,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.995,
+          "value": 0.986,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3002,7 +2782,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 248.68,
+          "value": 246.44,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -3050,7 +2830,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 184002,
+          "value": 183932,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -3136,11 +2916,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.265,
+      "duration": 3.659,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.893,
+          "value": 1.0,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3148,7 +2928,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 223.14,
+          "value": 249.97,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -3196,7 +2976,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 183992,
+          "value": 184016,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -3208,73 +2988,7 @@
           "unit": null
         }
       },
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: Traceback (most recent call last):"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
-        }
-      ]
+      "kit_logs": []
     },
     {
       "test_name": "slope_drop",
@@ -3282,7 +2996,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 38.478,
+      "duration": 47.813,
       "message": "",
       "metrics": {
         "slope_drop_initial_cx": {
@@ -3302,7 +3016,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 10.084,
+          "value": 11.486,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3310,11 +3024,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 193.92,
+          "value": 220.89,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.061,
+          "value": 2.463,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3358,7 +3072,7 @@
           "unit": null
         },
         "slope_drop_max_clearance": {
-          "value": 0.0173,
+          "value": 0.0175,
           "unit": "m"
         },
         "slope_drop_separation_frames": {
@@ -3374,73 +3088,7 @@
           "unit": null
         }
       },
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: Traceback (most recent call last):"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
-        }
-      ]
+      "kit_logs": []
     },
     {
       "test_name": "slope_drop",
@@ -3448,8 +3096,8 @@
       "engine_version": "6.1.0.0",
       "status": "fail",
       "passed": false,
-      "duration": 24.815,
-      "message": "Slope drop FAILED: The asset remained too far from the ramp after contact for 24 consecutive frame(s); peak clearance 0.1472m at frame 340. Review collision contact gaps, restitution, and the video for an upward launch.",
+      "duration": 30.795,
+      "message": "Slope drop FAILED: The asset remained too far from the ramp after contact for 24 consecutive frame(s); peak clearance 0.2104m at frame 343. Review collision contact gaps, restitution, and the video for an upward launch.",
       "metrics": {
         "slope_drop_initial_cx": {
           "value": -0.0,
@@ -3468,7 +3116,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 4.595,
+          "value": 5.382,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3476,11 +3124,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 208.85,
+          "value": 244.65,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.097,
+          "value": 1.245,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3524,7 +3172,7 @@
           "unit": null
         },
         "slope_drop_max_clearance": {
-          "value": 0.1472,
+          "value": 0.2104,
           "unit": "m"
         },
         "slope_drop_separation_frames": {
@@ -3532,7 +3180,7 @@
           "unit": null
         },
         "slope_drop_separation_frame": {
-          "value": 340,
+          "value": 343,
           "unit": null
         },
         "slope_drop_horiz_time": {
@@ -3540,73 +3188,7 @@
           "unit": null
         }
       },
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: Traceback (most recent call last):"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
-        }
-      ]
+      "kit_logs": []
     }
   ]
 }

M20S/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json

@@ -2,7 +2,7 @@
   "format_version": "1.0",
   "profile": "Package-Candidate",
   "profile_version": "1.0.0",
-  "timestamp": "2026-10-22T16:12:11",
+  "timestamp": "2026-10-22T16:43:28",
   "assets": [
     {
       "asset": "simready_usd/M20S.usd",

M20S/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json

@@ -2,7 +2,7 @@
   "format_version": "1.0",
   "profile": "Package",
   "profile_version": "1.0.0",
-  "timestamp": "2026-10-22T16:12:12",
+  "timestamp": "2026-10-22T16:43:28",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

M20S/.metadata/com.nvidia.simready.packaging.bom.json

@@ -27,10 +27,10 @@
     },
     {
       "relative_path": "simready_usd/M20S.usd",
-      "size": 5123,
+      "size": 6041,
       "hash": {
-        "sha256-flat-1mb": "be0aa0232d9d6f0322139b335f1a394cae1d2373febcc86eb897c8151339c1dc",
-        "sha256": "c0e0660aff6600f6acd40776d8e6eb014a86bd9b594e28f0301cd5d0eaa5d921"
+        "sha256-flat-1mb": "113eca1cd5e341cdaaa92b14afb6acf4154d73a69a3388357166c56da5ec65ee",
+        "sha256": "5cded7cc5b9ed7b1c295c1b0e3e46a997b443cd66769a41cd226fe30252f39a8"
       }
     },
     {

M20S/com.nvidia.simready.packaging.json

@@ -6,13 +6,13 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "a3d4241b1e015e83970c9ecf045d861e54bb8ec8ce3ca2091b1bee6b62820dd0"
+        "sha256": "6b470de839cd6d1819accfade7fe6e2e56b6d7fd057a4d9e244096433499f7c7"
       }
     },
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "02dbffc44a5b1f195654bb7280954138ff8051d059ffde9ef3624b5de73cb9e1"
+        "sha256": "010d46544f8a70d48650436f14e9988ff0055926573e5a9caa5944adf0452e45"
       }
     },
     {
@@ -23,9 +23,9 @@
     }
   ],
   "content_hash": {
-    "sha256": "ee3ccbad78d156b6718c5a16d0f0e12b810c9faf241f7c8aa49a2deb26b4c19c"
+    "sha256": "ea2e472a45b0b3f928e42efb5d9411c8a940a22e09af9647d11976bb2e288afb"
   },
   "package_hash": {
-    "sha256": "19e226a7252d646b6cbba700da8a67726ef23b02e708bf4aa2d5319afce74678"
+    "sha256": "5cbe71caae4768b71ee3d5088c197cd9b2df864a2a37314c7bedd8ba56c99b99"
   }
 }