Add SimReady package: M20

M20/.metadata/M20_benchmark.json

@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0",
   "asset": "M20",
-  "run_timestamp": "2026-10-22T17:14:01Z",
+  "run_timestamp": "2026-10-23T03:09:12Z",
   "passed": false,
   "results": [
     {
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 15.267,
+      "duration": 11.591,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.47,
+          "value": 2.049,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 154.35,
+          "value": 128.03,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.538,
+          "value": 1.175,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -42,15 +42,15 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.000239,
+          "value": 0.000362,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 3.7e-05,
+          "value": 5.3e-05,
           "unit": null
         },
         "culling_xz_worst_angle": {
-          "value": 135.0,
+          "value": 0.0,
           "unit": null
         },
         "culling_xz_passed": {
@@ -132,11 +132,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 14.465,
+      "duration": 12.185,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.343,
+          "value": 1.99,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -144,11 +144,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 146.45,
+          "value": 124.38,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.453,
+          "value": 1.232,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -164,11 +164,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.000272,
+          "value": 5.4e-05,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 7.6e-05,
+          "value": 1.3e-05,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -254,7 +254,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 247.427,
+      "duration": 255.828,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -270,19 +270,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 47.498,
+          "value": 58.075,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 187,
+          "value": 250,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 254.0,
+          "value": 232.3,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 7.758,
+          "value": 8.408,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -298,81 +298,15 @@
           "unit": null
         },
         "dgv_joints_passed": {
-          "value": 4,
+          "value": 5,
           "unit": null
         },
         "dgv_joints_failed": {
-          "value": 12,
+          "value": 11,
           "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": "drive_gain_validation",
@@ -380,7 +314,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 5.715,
+      "duration": 5.111,
       "message": "DGV: no actively-driven joints found under /World/AssetRoot/Asset.\n  DOFs discovered:           16\n  Excluded as passive:       16 (no DriveAPI / stiffness <= 0)\n  Excluded as mimic follower:0 (driven by PhysxMimicJointAPI)\n  Drivable after filter:     0\n\nDGV runs a per-joint step input and measures overshoot, settling\ntime, and oscillation count. It needs at least one joint that has\nBOTH (i) UsdPhysicsDriveAPI applied with positive stiffness, and\n(ii) authored joint limits with non-zero range. Without that, the\ncontroller has nothing to drive.\n\nFIX (most common cause: missing PhysicsDriveAPI). On each actuated\nrevolute joint, apply DriveAPI and author stiffness / damping /\nmaxForce. Edit the prim in your USD file:\n\n    def PhysicsRevoluteJoint \"shoulder_pan_joint\" (\n        prepend apiSchemas = [\"PhysicsDriveAPI:angular\"]\n    )\n    {\n        rel physics:body0 = </Base>\n        rel physics:body1 = </ShoulderLink>\n        uniform token physics:axis = \"Z\"\n\n        # Joint limits (REQUIRED -- DGV skips joints with zero range)\n        float physics:lowerLimit = -180.0\n        float physics:upperLimit =  180.0\n\n        # Drive gains. Tune per-joint -- heavier proximal links\n        # need higher stiffness/damping than distal wrists.\n        # Starting envelope (DJ.006): stiffness ~100-10000,\n        # damping ~1-100; the UR10 reference asset uses values\n        # from ~7 (wrist 3) up to ~360000 (shoulder lift).\n        float drive:angular:physics:stiffness = 1000.0\n        float drive:angular:physics:damping   = 50.0\n        float drive:angular:physics:maxForce  = 1000.0\n        float drive:angular:physics:targetPosition = 0.0\n    }\n\nFor PRISMATIC joints use drive:linear:* (same scheme). For mimic\nfollowers leave drive stiffness/damping at 0.0 -- they get their\nposition from the reference joint via PhysxMimicJointAPI and are\nEXPECTED to be excluded from DGV.\n\nREFERENCE:\n  Spec:     nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/drive-joint-value-reasonable.md\n            (DJ.006: stiffness ~100-10000, damping ~1-100 as a\n             starting envelope; heavier links typically need higher\n             stiffness and proportionally higher damping.)\n  Schema:   UsdPhysicsDriveAPI on each actuated joint\n            (drive:angular:* for revolute, drive:linear:* for prismatic)\n  Example:  sample_content/common_assets/robots_general/ur10/simready_isaac_usd/payloads/Physics/physics.usda\n            (per-joint drive:angular:physics:stiffness / :damping /\n             :maxForce authored on each PhysicsRevoluteJoint)",
       "metrics": {
         "dgv_joints_tested": {
@@ -404,7 +338,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 481.684,
+      "duration": 378.498,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -420,7 +354,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 87.021,
+          "value": 76.858,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -428,11 +362,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 226.62,
+          "value": 200.15,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 14.736,
+          "value": 13.431,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -460,73 +394,7 @@
           "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": "effort_limit",
@@ -534,7 +402,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 7.342,
+      "duration": 5.079,
       "message": "EFF: No joints with authored position or effort limits to test under external force.\n  Asset:               /World/AssetRoot/Asset\n  Passive joints excluded:        16\n  Mimic-follower joints excluded: 0\n\nWHAT THE TEST NEEDS: at least one revolute or prismatic joint that has EITHER\n  - finite physics:lowerLimit + physics:upperLimit with (upper - lower) > 1e-6, OR\n  - a finite, positive drive:<linear|angular>:physics:maxForce.\n\nFIX: open each driven joint prim under /World/AssetRoot/Asset and ensure the drive + limits are authored.\nExample -- paste/edit on a revolute joint (values in newtons, radians):\n\n    def PhysicsRevoluteJoint \"joint_1\" (\n        prepend apiSchemas = [\"PhysxJointAPI\", \"PhysicsDriveAPI:angular\", \"PhysicsJointStateAPI:angular\"]\n    )\n    {\n        rel physics:body0 = </link_0>\n        rel physics:body1 = </link_1>\n        uniform token physics:axis = \"Y\"\n\n        # Required for EFF: positive maxForce so the controller can hold against pushes.\n        # Typical revolute arm joints: 50-300 N\u00b7m; base/shoulder larger, wrist smaller.\n        float drive:angular:physics:maxForce = 87.0\n        float drive:angular:physics:stiffness = 1000.0\n        float drive:angular:physics:damping   = 100.0\n\n        # Required for EFF break detection: real motion limits (radians for revolute,\n        # meters for prismatic). EFF flags a 'break' when the joint exceeds these by\n        # more than break_tolerance * range (default 10%).\n        float physics:lowerLimit = -2.8973\n        float physics:upperLimit =  2.8973\n    }\n\nIf every joint is genuinely fixed/passive (e.g., a static fixture), EFF is not\napplicable to this asset -- exclude it from the EFF profile in your test plan.\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  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: drive:angular:physics:maxForce)",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -558,7 +426,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 5.963,
+      "duration": 5.293,
       "message": "FRS: No joints have valid position limits; the full-range sweep test cannot run.\n  Total DOF on articulation:      16\n  Passive joints excluded:        16\n\nWHAT THE TEST NEEDS: at least one active (non-passive) revolute or prismatic\njoint that declares finite, distinct position limits with (upper - lower) > 1e-3.\nJoints with missing, infinite, equal, or zero-width limits are silently skipped --\nif EVERY joint is in that state, FRS has nothing to sweep.\n\nFIX: open each driven joint prim under the articulation and author physics:lowerLimit\nand physics:upperLimit (radians for revolute, meters for prismatic). Units must\nmatch the joint type. Example -- paste/edit on a revolute joint:\n\n    def PhysicsRevoluteJoint \"joint_1\" (\n        prepend apiSchemas = [\"PhysxJointAPI\", \"PhysicsDriveAPI:angular\", \"PhysicsJointStateAPI:angular\"]\n    )\n    {\n        rel physics:body0 = </link_0>\n        rel physics:body1 = </link_1>\n        uniform token physics:axis = \"Y\"\n\n        # Required for FRS: finite, distinct limits with (upper - lower) > 1e-3.\n        # Typical revolute arm joints (radians): +/- 2.9 rad (~+/- 165 deg)\n        # Typical prismatic gripper finger (meters): 0.0 .. 0.04\n        float physics:lowerLimit = -2.8973\n        float physics:upperLimit =  2.8973\n\n        # FRS only sweeps joints with a working drive (so the commanded\n        # target actually moves the link). Author drive gains too:\n        float drive:angular:physics:stiffness = 1000.0\n        float drive:angular:physics:damping   = 100.0\n        float drive:angular:physics:maxForce  = 87.0\n        float physxJoint:maxJointVelocity     = 2.6\n    }\n\nIf every joint on this articulation is genuinely passive (e.g., a static fixture\nor a passive mimic-follower chain), FRS is not applicable -- exclude the asset from\nthe FRS profile in your test plan.\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": {
@@ -586,7 +454,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 49.465,
+      "duration": 36.707,
       "message": "",
       "metrics": {
         "ground_drop_initial_z_min": {
@@ -602,7 +470,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 11.518,
+          "value": 9.993,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -610,11 +478,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 255.95,
+          "value": 222.06,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.473,
+          "value": 1.861,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -654,7 +522,73 @@
           "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",
@@ -662,7 +596,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 128.505,
+      "duration": 92.591,
       "message": "",
       "metrics": {
         "ground_drop_initial_z_min": {
@@ -678,19 +612,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 19.176,
+          "value": 15.875,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 74,
+          "value": 73,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 259.14,
+          "value": 217.47,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 3.289,
+          "value": 2.598,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -726,11 +660,77 @@
           "unit": null
         },
         "ground_drop_rest_time": {
-          "value": 4.408,
+          "value": 4.3,
           "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": "ik_target_reach",
@@ -738,7 +738,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 4.177,
+      "duration": 3.639,
       "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/M20/simready_usd/M20.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": []
@@ -749,7 +749,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 5.998,
+      "duration": 5.235,
       "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.",
       "metrics": {},
       "kit_logs": []
@@ -760,7 +760,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 6.206,
+      "duration": 5.94,
       "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.",
       "metrics": {},
       "kit_logs": []
@@ -771,11 +771,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 115.368,
+      "duration": 85.359,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 12.779,
+          "value": 10.444,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -783,11 +783,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 283.98,
+          "value": 232.09,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.023,
+          "value": 1.626,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1143,11 +1143,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 74.041,
+      "duration": 54.752,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 11.907,
+          "value": 9.442,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1155,11 +1155,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 264.61,
+          "value": 209.82,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.223,
+          "value": 1.773,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1454,56 +1454,198 @@
           "value": "passed",
           "unit": null
         },
-        "jm_joint_fl_wheel_joint_status": {
-          "value": "passed",
+        "jm_joint_fl_wheel_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_fr_hipx_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_fr_hipy_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_fr_knee_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_fr_wheel_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_hl_hipx_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_hl_hipy_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_hl_knee_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_hl_wheel_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_hr_hipx_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_hr_hipy_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_hr_knee_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_hr_wheel_joint_status": {
+          "value": "passed",
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/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": "light_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 15.646,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.09,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 136.32,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.255,
           "unit": null
         },
-        "jm_joint_fr_hipx_joint_status": {
-          "value": "passed",
+        "_timing_encode_video_count": {
+          "value": 1,
           "unit": null
         },
-        "jm_joint_fr_hipy_joint_status": {
-          "value": "passed",
+        "_render_blank_retry_count": {
+          "value": 0,
           "unit": null
         },
-        "jm_joint_fr_knee_joint_status": {
-          "value": "passed",
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
           "unit": null
         },
-        "jm_joint_fr_wheel_joint_status": {
-          "value": "passed",
+        "light_response_variation_ratio": {
+          "value": 0.724138,
           "unit": null
         },
-        "jm_joint_hl_hipx_joint_status": {
-          "value": "passed",
+        "light_response_blank_ratio": {
+          "value": 0.0,
           "unit": null
         },
-        "jm_joint_hl_hipy_joint_status": {
-          "value": "passed",
+        "light_response_blank_frames": {
+          "value": 0,
           "unit": null
         },
-        "jm_joint_hl_knee_joint_status": {
-          "value": "passed",
+        "light_response_total_frames": {
+          "value": 30,
           "unit": null
         },
-        "jm_joint_hl_wheel_joint_status": {
-          "value": "passed",
+        "light_response_total_pairs": {
+          "value": 29,
           "unit": null
         },
-        "jm_joint_hr_hipx_joint_status": {
-          "value": "passed",
+        "light_response_different_pairs": {
+          "value": 21,
           "unit": null
         },
-        "jm_joint_hr_hipy_joint_status": {
-          "value": "passed",
+        "light_response_passed": {
+          "value": 1,
           "unit": null
         },
-        "jm_joint_hr_knee_joint_status": {
-          "value": "passed",
+        "light_response_max_pair_change": {
+          "value": 0.729386,
           "unit": null
         },
-        "jm_joint_hr_wheel_joint_status": {
-          "value": "passed",
+        "light_response_min_pair_change": {
+          "value": 0.031352,
           "unit": null
         }
       },
@@ -1511,15 +1653,15 @@
     },
     {
       "test_name": "light_response",
-      "engine": "isaac_sim",
+      "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 19.425,
+      "duration": 15.436,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.87,
+          "value": 3.967,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1527,11 +1669,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 162.33,
+          "value": 132.24,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.613,
+          "value": 1.183,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1547,7 +1689,7 @@
           "unit": null
         },
         "light_response_variation_ratio": {
-          "value": 0.689655,
+          "value": 0.724138,
           "unit": null
         },
         "light_response_blank_ratio": {
@@ -1567,7 +1709,7 @@
           "unit": null
         },
         "light_response_different_pairs": {
-          "value": 20,
+          "value": 21,
           "unit": null
         },
         "light_response_passed": {
@@ -1575,11 +1717,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.725735,
+          "value": 0.727888,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.031942,
+          "value": 0.032628,
           "unit": null
         }
       },
@@ -1651,89 +1793,13 @@
         }
       ]
     },
-    {
-      "test_name": "light_response",
-      "engine": "isaac_sim_newton",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 19.369,
-      "message": "",
-      "metrics": {
-        "_timing_capture_frame_total_s": {
-          "value": 4.766,
-          "unit": null
-        },
-        "_timing_capture_frame_count": {
-          "value": 30,
-          "unit": null
-        },
-        "_timing_capture_frame_avg_ms": {
-          "value": 158.86,
-          "unit": null
-        },
-        "_timing_encode_video_total_s": {
-          "value": 1.541,
-          "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": 0.689655,
-          "unit": null
-        },
-        "light_response_blank_ratio": {
-          "value": 0.0,
-          "unit": null
-        },
-        "light_response_blank_frames": {
-          "value": 0,
-          "unit": null
-        },
-        "light_response_total_frames": {
-          "value": 30,
-          "unit": null
-        },
-        "light_response_total_pairs": {
-          "value": 29,
-          "unit": null
-        },
-        "light_response_different_pairs": {
-          "value": 20,
-          "unit": null
-        },
-        "light_response_passed": {
-          "value": 1,
-          "unit": null
-        },
-        "light_response_max_pair_change": {
-          "value": 0.728652,
-          "unit": null
-        },
-        "light_response_min_pair_change": {
-          "value": 0.03219,
-          "unit": null
-        }
-      },
-      "kit_logs": []
-    },
     {
       "test_name": "mimic_joint",
       "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 6.386,
+      "duration": 5.073,
       "message": "MIM: no NewtonMimicAPI found on any joint under the asset prim.\n\nThis test is not applicable when the mechanism has no coupled joints. For a Newton follower joint, apply NewtonMimicAPI, set newton:mimicJoint to the reference joint, and author finite newton:mimicCoef0/newton:mimicCoef1 values. The test is skipped, not failed, for an uncoupled articulation.",
       "metrics": {
         "mim_mimic_pairs_detected": {
@@ -1749,7 +1815,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 6.325,
+      "duration": 4.958,
       "message": "MJC skipped: asset has only 0/16 joints with finite position limits; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n  - Articulation DOFs reported by Isaac: 16\n  - DOFs with finite (lower, upper) and upper-lower > 1e-6: 0\n  - Required by MJC: >= 2 (each driven independently to a mid-range\n    target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n  MJC validates simultaneous multi-joint convergence under the PD\n  drive controller. A revolute joint authored without limits (or\n  with type='none', or as a continuous joint) has no mid-range\n  target the test can pick, so it cannot participate.\n\nFIX: On every joint you intend MJC to exercise, author finite\nposition limits on the matching axis. For PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in the stage's linear unit (typically meters).\nBoth must be finite and upperLimit > lowerLimit.\n\nTEMPLATE -- paste/edit on each joint prim. Pick limits that match\nthe real mechanical travel of the joint; do NOT use +-inf:\n\n    def PhysicsRevoluteJoint \"joint_1\"\n    {\n        uniform token physics:axis = \"Z\"\n        float physics:lowerLimit = -170.0   # degrees\n        float physics:upperLimit =  170.0   # degrees\n        # ... body0 / body1 / localPos0 / localPos1 ...\n    }\n\n    def PhysicsPrismaticJoint \"slider_1\"\n    {\n        uniform token physics:axis = \"X\"\n        float physics:lowerLimit = 0.0      # meters\n        float physics:upperLimit = 0.085    # meters\n        # ... body0 / body1 / localPos0 / localPos1 ...\n    }\n\nCHECKLIST per joint you expect MJC to drive:\n  - physics:axis is set (X / Y / Z).\n  - physics:lowerLimit and physics:upperLimit are BOTH finite.\n  - physics:upperLimit - physics:lowerLimit > 1e-6 (non-degenerate).\n  - Joint is reachable from the articulation root (otherwise Isaac\n    will not expose it as a DOF; see FET_024 for articulation\n    topology requirements).\n\nIf the joint is intentionally free-running (e.g. a passive wheel),\nexclude it from your articulation rather than leaving it limit-less.\n\nREFERENCE:\n  Spec (driven joints):  nv_core/sr_specs/docs/shared/features/FET_022-driven_joints.md\n  Spec (articulation):   nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_024-base_articulation.md\n  Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_isaac_usd/Robotiq_2F_85.usda\n           (search for: prepend apiSchemas = [\"PhysicsDriveAPI:angular\"])",
       "metrics": {
         "mjc_total_joints": {
@@ -1773,11 +1839,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 9.515,
+      "duration": 8.388,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.117,
+          "value": 0.917,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1785,11 +1851,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 139.62,
+          "value": 114.63,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.628,
+          "value": 0.538,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1805,11 +1871,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.000523,
+          "value": 0.000543,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.001728,
+          "value": 0.001744,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -1895,11 +1961,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 9.631,
+      "duration": 7.218,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.176,
+          "value": 0.949,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1907,11 +1973,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 147.0,
+          "value": 118.59,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.662,
+          "value": 0.533,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1927,11 +1993,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.000523,
+          "value": 0.000524,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.001695,
+          "value": 0.00175,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -2017,11 +2083,11 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 15.51,
+      "duration": 11.656,
       "message": "Pivot/origin check did not meet the recommended score (score=0.20, recommended >=0.70). Reported as SKIPPED, not a failure: the correct pivot location depends on the object type, so a sub-threshold result is advisory and does not fail FET001. The tilt and spin videos are kept below so the pivot can be judged visually.\nPivot is 87.4% from base (should be <10%).\nX-axis tilt causes ground penetration (min_z=-0.642).\n\nHow to fix:\n- Move the asset pivot to the bottom-center of the bounding box.\n- The pivot should be at Z=0 (ground level) and centered in XY.\n- In your DCC tool, set the pivot/origin to the base of the object.\n- Check the X-tilt and Z-spin videos for visual reference.\n\nWhen this can be ignored: this check validates ground-placeable\nprops. If your object is a rotating/hinged type (e.g., door, robot\njoint), the pivot should be at the rotation center -- not the base;\nthose are validated under FET021/FET022. Attached objects (cameras,\nwheels) should have their pivot at the attachment point.\n\nINTERIM: pivot/origin (VG.025) is treated as advisory and does not\nfail the feature, pending spec clarification on whether VG.025 is a\nmandatory or optional requirement (refer to docs/spec-clarifications-needed.md).",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 3.14,
+          "value": 2.686,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2029,11 +2095,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 157.02,
+          "value": 134.28,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.348,
+          "value": 1.217,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2151,11 +2217,11 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 15.514,
+      "duration": 11.745,
       "message": "Pivot/origin check did not meet the recommended score (score=0.20, recommended >=0.70). Reported as SKIPPED, not a failure: the correct pivot location depends on the object type, so a sub-threshold result is advisory and does not fail FET001. The tilt and spin videos are kept below so the pivot can be judged visually.\nPivot is 87.4% from base (should be <10%).\nX-axis tilt causes ground penetration (min_z=-0.642).\n\nHow to fix:\n- Move the asset pivot to the bottom-center of the bounding box.\n- The pivot should be at Z=0 (ground level) and centered in XY.\n- In your DCC tool, set the pivot/origin to the base of the object.\n- Check the X-tilt and Z-spin videos for visual reference.\n\nWhen this can be ignored: this check validates ground-placeable\nprops. If your object is a rotating/hinged type (e.g., door, robot\njoint), the pivot should be at the rotation center -- not the base;\nthose are validated under FET021/FET022. Attached objects (cameras,\nwheels) should have their pivot at the attachment point.\n\nINTERIM: pivot/origin (VG.025) is treated as advisory and does not\nfail the feature, pending spec clarification on whether VG.025 is a\nmandatory or optional requirement (refer to docs/spec-clarifications-needed.md).",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 3.139,
+          "value": 2.667,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2163,11 +2229,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 156.97,
+          "value": 133.33,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.45,
+          "value": 1.248,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2285,11 +2351,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.629,
+      "duration": 5.273,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.293,
+          "value": 0.237,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2297,7 +2363,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 146.49,
+          "value": 118.31,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2317,7 +2383,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.177208,
+          "value": 0.177237,
           "unit": null
         },
         "presence_passed": {
@@ -2325,7 +2391,73 @@
           "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": "presence",
@@ -2333,11 +2465,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.534,
+      "duration": 4.907,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.268,
+          "value": 0.216,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2345,7 +2477,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 133.97,
+          "value": 108.19,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2365,7 +2497,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.177269,
+          "value": 0.177242,
           "unit": null
         },
         "presence_passed": {
@@ -2447,11 +2579,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.633,
+      "duration": 3.568,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.151,
+          "value": 0.926,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2459,7 +2591,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 287.65,
+          "value": 231.55,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2507,7 +2639,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 185027,
+          "value": 185032,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2593,11 +2725,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 5.373,
+      "duration": 4.396,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.22,
+          "value": 1.061,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2605,7 +2737,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 304.94,
+          "value": 265.32,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2653,7 +2785,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 185082,
+          "value": 185046,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2739,7 +2871,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 73.128,
+      "duration": 52.762,
       "message": "",
       "metrics": {
         "slope_drop_initial_cx": {
@@ -2759,7 +2891,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 12.889,
+          "value": 10.656,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2767,11 +2899,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 243.2,
+          "value": 201.06,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.568,
+          "value": 1.958,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2831,73 +2963,7 @@
           "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",
@@ -2905,8 +2971,8 @@
       "engine_version": "6.1.0.0",
       "status": "fail",
       "passed": false,
-      "duration": 53.837,
-      "message": "Slope drop FAILED: The asset remained too far from the ramp after contact for 24 consecutive frame(s); peak clearance 0.1404m at frame 444. Review collision contact gaps, restitution, and the video for an upward launch.",
+      "duration": 39.673,
+      "message": "Slope drop FAILED: The asset remained too far from the ramp after contact for 24 consecutive frame(s); peak clearance 0.1399m at frame 444. Review collision contact gaps, restitution, and the video for an upward launch.",
       "metrics": {
         "slope_drop_initial_cx": {
           "value": 0.0,
@@ -2925,7 +2991,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 7.083,
+          "value": 5.793,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2933,11 +2999,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 252.95,
+          "value": 206.91,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.689,
+          "value": 1.241,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2981,7 +3047,7 @@
           "unit": null
         },
         "slope_drop_max_clearance": {
-          "value": 0.1404,
+          "value": 0.1399,
           "unit": "m"
         },
         "slope_drop_separation_frames": {
@@ -3071,7 +3137,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 7.24,
+      "duration": 4.955,
       "message": "STA cannot run: no testable joints after filtering.\n\nWHAT WE FOUND:\n  - passive joints (no UsdPhysics:DriveAPI authored): 16\n      fl_hipx_joint, fl_hipy_joint, fl_knee_joint, fl_wheel_joint, fr_hipx_joint, fr_hipy_joint, fr_knee_joint, fr_wheel_joint, hl_hipx_joint, hl_hipy_joint, hl_knee_joint, hl_wheel_joint, hr_hipx_joint, hr_hipy_joint, hr_knee_joint, hr_wheel_joint\n  - mimic-follower joints (PhysxMimicJointAPI -> reference): 0\n      (none)\n  - articulated joints with finite, non-degenerate limits and a\n    drive authored: 0\n\nWHAT WE EXPECTED:\n  At least one revolute or prismatic joint with:\n    1. finite lower/upper position limits where |hi - lo| >= 0.01 rad,\n    2. UsdPhysics:DriveAPI applied (angular for revolute,\n       linear for prismatic), and\n    3. no PhysxMimicJointAPI making it a follower of another joint.\n\nFIX: Apply DriveAPI on the joint(s) that should be actuated, with\nnon-zero stiffness and a reasonable target (typically 0 rad at\nrest pose). On the joint prim in your USD, paste:\n\n    over \"<joint_prim_name>\" (\n        prepend apiSchemas = [\"PhysicsDriveAPI:angular\",\n                              \"PhysicsJointStateAPI:angular\"]\n    )\n    {\n        # Position-control drive. Stiffness in N-m/rad for angular,\n        # N/m for linear. UR10 uses ~5,729,578 (1e8 deg/rad-ish);\n        # most arms want 1e4 to 1e6 N-m/rad.\n        float drive:angular:physics:stiffness = 100000.0\n        float drive:angular:physics:damping   = 10000.0\n        float drive:angular:physics:maxForce  = inf\n        float drive:angular:physics:targetPosition = 0.0\n\n        # Position limits in RADIANS for revolute, METERS for\n        # prismatic. Must be finite and span the test waypoints\n        # (default test commands +/-15 deg around 0).\n        float physics:lowerLimit = -3.14159\n        float physics:upperLimit =  3.14159\n\n        # JointStateAPI -- required for STA to read back the\n        # commanded position during the test.\n        float state:angular:physics:position = 0.0\n        float state:angular:physics:velocity = 0.0\n    }\n\nIf a joint is INTENTIONALLY passive (e.g. a free-spinning caster),\ntag it with `simready:joint:passive = true` so STA skips it without\ncounting it against the asset. If the asset is a pure-mimic\ngripper (every DOF is a follower), STA does not apply -- mark the\nreference joint with DriveAPI as above and let the followers be\ndriven by mimic.\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/\n               drive-joint-value-reasonable.md\n               physics-drive-and-joint-state.md\n               joint-has-joint-state-api.md\n  Example:   sample_content/common_assets/robots_general/ur10/simready_isaac_usd/payloads/Physics/physx.usda\n             (search for: drive:angular:physics:stiffness)",
       "metrics": {
         "sta_joints_with_limits": {
@@ -3099,7 +3165,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 6.51,
+      "duration": 4.912,
       "message": "VEL: No joints carry an authored velocity limit; the velocity-limit test cannot run.\n\nWhat the test looked for (EITHER authoring form is accepted):\n  - `physxJoint:maxJointVelocity` on a PhysxJointAPI, OR\n  - `physxDrivePerformanceEnvelope:angular:maxActuatorVelocity`\n    (or `:linear:`) on a PhysxDrivePerformanceEnvelopeAPI,\n  set to a positive finite value on each driven (revolute /\n  prismatic) joint.\n  - At least one such joint that is NOT a passive or mimic-\n    follower joint (those are excluded -- their velocity is not\n    independently commandable).\n\n  UNITS: USD authors these in DEGREES/second for revolute joints\n  and distance/second for prismatic joints. (PhysX consumes\n  radians/second internally; the test converts deg->rad for you.)\n\nWhat was found:\n  - No joint carried either authored velocity limit, or every\n    joint that did is passive / mimic-followed.\n\nFIX: On every driven revolute/prismatic joint, author a positive\nfinite velocity limit matching the mechanism's datasheet rated\nspeed, in DEGREES/second (revolute) or distance/second\n(prismatic).\n\nPaste-ready USDA -- adjust the value to your joint's datasheet:\n\n    def PhysicsRevoluteJoint \"shoulder_pan_joint\" (\n        prepend apiSchemas = [\"PhysicsDriveAPI:angular\",\n                              \"PhysxJointAPI\"]\n    )\n    {\n        rel physics:body0 = </base_link>\n        rel physics:body1 = </shoulder_link>\n        uniform token physics:axis = \"Z\"\n        # Rated max speed in DEGREES/s (UR10 shoulder = 120 deg/s\n        # = ~2.09 rad/s).\n        float physxJoint:maxJointVelocity = 120\n    }\n\n    def PhysicsPrismaticJoint \"slide_joint\" (\n        prepend apiSchemas = [\"PhysicsDriveAPI:linear\",\n                              \"PhysxJointAPI\"]\n    )\n    {\n        rel physics:body0 = </base_link>\n        rel physics:body1 = </slide_link>\n        uniform token physics:axis = \"X\"\n        # Rated max speed, distance/s.\n        float physxJoint:maxJointVelocity = 1.0\n    }\n\nNotes:\n  - The same limit can also (or instead) be authored on the\n    actuator side as\n    `physxDrivePerformanceEnvelope:angular:maxActuatorVelocity`\n    (or `:linear:`), also in DEGREES/second for revolute; the\n    test takes the MIN of the two when both are present, so\n    author both consistently.\n  - If every joint in the articulation is passive or a mimic\n    follower, this phase has nothing to test -- add a velocity\n    limit on the master joint that drives the followers.\n\nREFERENCE:\n  Spec:    nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/physics-joint-max-velocity.md\n           (DJ.005 -- physxJoint:maxJointVelocity > 0 required on\n            every revolute/prismatic PhysX driven joint)\n  Example: sample_content/common_assets/robots_general/ur10/simready_isaac_usd/payloads/Physics/physx.usda\n           (search for: float physxJoint:maxJointVelocity = 120)",
       "metrics": {
         "vel_joints_skipped_passive": {

M20/.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": "2026-10-22T17:14:03",
+  "timestamp": "2026-10-23T03:09:14",
   "assets": [
     {
       "asset": "simready_usd/M20.usd",

M20/.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": "2026-10-22T17:14:03",
+  "timestamp": "2026-10-23T03:09:14",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

M20/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "c23305d9bbb14cf2a799a5760c178266956307caf1ebdec3dd361d4b1f44d6f4"
+        "sha256": "d0ce9a14165479683ba9d83df252f229e4c6849926db546c64e645e8d1702eea"
       }
     },
     {
@@ -26,6 +26,6 @@
     "sha256": "bc11793ca9b7fce5f6cd0af13fbe56926b4cde2f30dfa58707e7548bb00b7c4a"
   },
   "package_hash": {
-    "sha256": "b25043257ade675b0d57b763e72a89382c8a677cd188e114e8de5ee006b82cdd"
+    "sha256": "118ea37c7b6c505ee54a04ad3bbc501e4f63205cb5108611c9923c47b2142d43"
   }
 }