Add SimReady package: S10

S10/.metadata/S10_benchmark.json

@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0",
   "asset": "S10",
-  "run_timestamp": "2026-10-22T17:31:04Z",
+  "run_timestamp": "2026-10-23T03:55:23Z",
   "passed": false,
   "results": [
     {
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 11.123,
+      "duration": 8.322,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.947,
+          "value": 3.806,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 309.19,
+          "value": 237.9,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.497,
+          "value": 1.163,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -50,11 +50,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 1.2e-05,
+          "value": 2.5e-05,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 2e-06,
+          "value": 3e-06,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -140,11 +140,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 10.972,
+      "duration": 8.319,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.791,
+          "value": 3.794,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -152,11 +152,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 299.45,
+          "value": 237.09,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.534,
+          "value": 1.152,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -180,15 +180,15 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 1.3e-05,
+          "value": 1.2e-05,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 3e-06,
+          "value": 2e-06,
           "unit": null
         },
         "culling_xz_worst_angle": {
-          "value": 135.0,
+          "value": 180.0,
           "unit": null
         },
         "culling_xz_passed": {
@@ -196,66 +196,6 @@
           "unit": null
         }
       },
-      "kit_logs": []
-    },
-    {
-      "test_name": "drive_gain_validation",
-      "engine": "isaac_sim",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 155.626,
-      "message": "",
-      "metrics": {
-        "dgv_joints_tested": {
-          "value": 16,
-          "unit": null
-        },
-        "dgv_passive_joints_skipped": {
-          "value": 0,
-          "unit": null
-        },
-        "dgv_mimic_follower_joints_skipped": {
-          "value": 0,
-          "unit": null
-        },
-        "_timing_capture_frame_total_s": {
-          "value": 43.009,
-          "unit": null
-        },
-        "_timing_capture_frame_count": {
-          "value": 176,
-          "unit": null
-        },
-        "_timing_capture_frame_avg_ms": {
-          "value": 244.37,
-          "unit": null
-        },
-        "_timing_encode_video_total_s": {
-          "value": 7.618,
-          "unit": null
-        },
-        "_timing_encode_video_count": {
-          "value": 1,
-          "unit": null
-        },
-        "_render_blank_retry_count": {
-          "value": 0,
-          "unit": null
-        },
-        "_render_blank_retry_unrecovered": {
-          "value": 0,
-          "unit": null
-        },
-        "dgv_joints_passed": {
-          "value": 7,
-          "unit": null
-        },
-        "dgv_joints_failed": {
-          "value": 9,
-          "unit": null
-        }
-      },
       "kit_logs": [
         {
           "level": "error",
@@ -324,13 +264,73 @@
         }
       ]
     },
+    {
+      "test_name": "drive_gain_validation",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 109.452,
+      "message": "",
+      "metrics": {
+        "dgv_joints_tested": {
+          "value": 16,
+          "unit": null
+        },
+        "dgv_passive_joints_skipped": {
+          "value": 0,
+          "unit": null
+        },
+        "dgv_mimic_follower_joints_skipped": {
+          "value": 0,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 34.981,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 168,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 208.22,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 5.628,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "dgv_joints_passed": {
+          "value": 8,
+          "unit": null
+        },
+        "dgv_joints_failed": {
+          "value": 8,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
     {
       "test_name": "drive_gain_validation",
       "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 143.118,
+      "duration": 106.352,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -346,19 +346,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 29.891,
+          "value": 26.358,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 121,
+          "value": 122,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 247.03,
+          "value": 216.05,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 5.442,
+          "value": 4.408,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -456,7 +456,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 382.933,
+      "duration": 260.866,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -472,7 +472,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 79.753,
+          "value": 67.312,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -480,11 +480,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 207.69,
+          "value": 175.29,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 13.773,
+          "value": 12.023,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -512,73 +512,7 @@
           "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",
@@ -586,7 +520,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 456.04,
+      "duration": 340.764,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -602,7 +536,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 86.23,
+          "value": 74.899,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -610,11 +544,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 224.56,
+          "value": 195.05,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 13.618,
+          "value": 12.807,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -710,13 +644,81 @@
         }
       ]
     },
+    {
+      "test_name": "full_range_sweep",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "fail",
+      "passed": false,
+      "duration": 502.921,
+      "message": "FRS: 4/16 joints failed the full-range sweep.\n  Failing joints: 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": 0.035870008391243845,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 98.273,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 480,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 204.73,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 15.095,
+          "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": 12,
+          "unit": null
+        },
+        "frs_joints_failed": {
+          "value": 4,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
     {
       "test_name": "ground_drop",
       "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 36.973,
+      "duration": 26.431,
       "message": "",
       "metrics": {
         "ground_drop_initial_z_min": {
@@ -732,7 +734,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 11.113,
+          "value": 9.097,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -740,11 +742,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 252.56,
+          "value": 206.75,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.347,
+          "value": 1.85,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -784,6 +786,82 @@
           "unit": null
         }
       },
+      "kit_logs": []
+    },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 47.943,
+      "message": "",
+      "metrics": {
+        "ground_drop_initial_z_min": {
+          "value": 0.7636,
+          "unit": null
+        },
+        "ground_drop_bbox_height": {
+          "value": 0.5244,
+          "unit": null
+        },
+        "ground_drop_effective_fall": {
+          "value": 0.6636,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 9.798,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 46,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 213.0,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.923,
+          "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
+        },
+        "ground_drop_touched": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "ground_drop_stable": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_touch_time": {
+          "value": 0.367,
+          "unit": null
+        },
+        "ground_drop_rest_time": {
+          "value": 2.554,
+          "unit": null
+        }
+      },
       "kit_logs": [
         {
           "level": "error",
@@ -853,80 +931,129 @@
       ]
     },
     {
-      "test_name": "ground_drop",
-      "engine": "isaac_sim_newton",
+      "test_name": "ik_target_reach",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 1.197,
+      "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/S10/simready_usd/S10.usd'\n            isaac:robotType='MOBILE_BASE'\n  Expected: the asset's path OR its IsaacRobotAPI.isaac:robotType\n            value contains one of the canonical Lula-supported\n            robot keys (case-insensitive substring match):\n              Franka, UR3, UR5, UR10, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4\n\nFIX (asset-authoring): the Lula IK solver needs a descriptor YAML +\nURDF pair to know your robot's kinematic chain. Two ways to satisfy\nthis test:\n\n  1. RENAME / RETAG to a supported model. If your robot IS one of the\n     supported models above, ensure the asset folder name (or the\n     default prim's isaac:robotType token) contains the canonical\n     key. For example, place the asset under a folder containing\n     'Franka' or set:\n         token isaac:robotType = \"Manipulator\"\n         string isaac:robotName = \"Franka\"\n     on the default prim.\n\n  2. PROVIDE an explicit Lula descriptor. Set the phase config in\n     your test profile:\n         lula_robot_name: \"<canonical-name>\"\n         lula_yaml_path:  \"./abs/path/to/robot_descriptor.yaml\"\n         lula_urdf_path:  \"./abs/path/to/robot.urdf\"\n     The YAML must list the kinematic chain (base_link, cspace,\n     active joints, default_q) per Isaac Sim's Lula descriptor\n     format. See any policy in the policy_map directory cited below\n     for a working template.\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/robot_core/requirements/robot-type.md (RC.008)\n             nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/robot_core/requirements/robot-schema.md (RC.007)\n  Feature:   nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_021_ISAAC.md\n  Lula descriptors: Isaac Sim ships YAML+URDF pairs under\n             isaacsim.robot_motion.motion_generation/policies/\n             policy_map.json -- keyed by canonical robot name\n             (Franka, UR3, UR5, UR10, UR16e, Kinova_Gen3,\n              Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta,\n              Festo_Cobot, Rethink_Sawyer, Rizon4).\n  Example:   Any Franka_*.usd or UR10_*.usd asset under\n             sample_content/common_assets/robots_general/ -- the\n             asset folder name contains the canonical robot key\n             and the default prim sets isaac:robotType=\"Manipulator\".",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "jacobian_ik",
+      "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 66.05,
-      "message": "",
+      "status": "fail",
+      "passed": false,
+      "duration": 403.361,
+      "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: 3.0281 m (tolerance 0.050 m).\n  - Worst orientation error: 114.59 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": {
-        "ground_drop_initial_z_min": {
-          "value": 0.7636,
+        "jik_robot_reach": {
+          "value": 0.523,
           "unit": null
         },
-        "ground_drop_bbox_height": {
-          "value": 0.5244,
+        "jik_target_radius": {
+          "value": 0.4707,
           "unit": null
         },
-        "ground_drop_effective_fall": {
-          "value": 0.6636,
+        "jik_base_position_x": {
+          "value": -0.171,
           "unit": null
         },
-        "_timing_capture_frame_total_s": {
-          "value": 12.365,
+        "jik_base_position_y": {
+          "value": -0.989,
           "unit": null
         },
-        "_timing_capture_frame_count": {
-          "value": 46,
+        "jik_base_position_z": {
+          "value": 0.4408,
           "unit": null
         },
-        "_timing_capture_frame_avg_ms": {
-          "value": 268.8,
+        "jik_max_observed_reach": {
+          "value": 0.4523,
           "unit": null
         },
-        "_timing_encode_video_total_s": {
-          "value": 2.451,
+        "jik_distinct_reachable_targets": {
+          "value": 5,
           "unit": null
         },
-        "_timing_encode_video_count": {
-          "value": 1,
+        "jik_bbox_baseline_volume": {
+          "value": 0.052426,
           "unit": null
         },
-        "_render_blank_retry_count": {
+        "jik_total_iterations": {
+          "value": 1050,
+          "unit": null
+        },
+        "jik_targets_generated": {
+          "value": 7,
+          "unit": null
+        },
+        "jik_targets_reached": {
           "value": 0,
           "unit": null
         },
-        "_render_blank_retry_unrecovered": {
+        "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
         },
-        "ground_drop_touched": {
-          "value": 1,
+        "jik_in_reach_solver_failed_red": {
+          "value": 5,
           "unit": null
         },
-        "ground_drop_penetrated": {
+        "jik_in_reach_motion_failed_orange": {
           "value": 0,
           "unit": null
         },
-        "ground_drop_stable": {
-          "value": 1,
+        "jik_out_of_reach_correctly_failed_magenta": {
+          "value": 2,
           "unit": null
         },
-        "ground_drop_passed": {
-          "value": 1,
+        "jik_out_of_reach_false_positive_yellow": {
+          "value": 0,
           "unit": null
         },
-        "ground_drop_touch_time": {
-          "value": 0.367,
+        "jik_max_position_error_m": {
+          "value": 3.028118,
           "unit": null
         },
-        "ground_drop_rest_time": {
-          "value": 2.554,
+        "jik_max_orientation_error_deg": {
+          "value": 114.5904,
+          "unit": null
+        },
+        "jik_pass_rate": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jik_ee_link": {
+          "value": "/World/AssetRoot/Asset/hr_wheel",
           "unit": null
         }
       },
-      "kit_logs": []
+      "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"
+        }
+      ]
     },
     {
       "test_name": "joint_movement",
@@ -934,11 +1061,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 92.809,
+      "duration": 64.71,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 13.661,
+          "value": 10.577,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -946,11 +1073,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 303.57,
+          "value": 235.04,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.276,
+          "value": 1.848,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1306,11 +1433,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 61.471,
+      "duration": 44.345,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 12.04,
+          "value": 9.474,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1318,11 +1445,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 267.55,
+          "value": 210.53,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.326,
+          "value": 1.776,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1744,11 +1871,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 15.345,
+      "duration": 12.26,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 5.238,
+          "value": 4.091,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1756,11 +1883,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 174.61,
+          "value": 136.37,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.621,
+          "value": 1.222,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1804,39 +1931,260 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.745417,
+          "value": 0.745105,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.040516,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 12.474,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.151,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 138.36,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.211,
+          "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": 0.931034,
+          "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": 27,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.744877,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.039873,
+          "value": 0.040567,
+          "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": "mimic_joint",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 1.192,
+      "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": "light_response",
-      "engine": "isaac_sim_newton",
+      "test_name": "multi_joint_coordination",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "fail",
+      "passed": false,
+      "duration": 13.458,
+      "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": 3.425,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 214.09,
+          "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.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": 15.4,
+      "duration": 9.836,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 5.24,
+          "value": 7.205,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 30,
+          "value": 8,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 174.66,
+          "value": 900.65,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.461,
+          "value": 0.478,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1844,47 +2192,55 @@
           "unit": null
         },
         "_render_blank_retry_count": {
-          "value": 0,
+          "value": 7,
           "unit": null
         },
         "_render_blank_retry_unrecovered": {
-          "value": 0,
+          "value": 7,
           "unit": null
         },
-        "light_response_variation_ratio": {
-          "value": 0.862069,
+        "_render_blank_retry[normals_xz_002.png]": {
+          "value": "attempts=6 recovered=False",
           "unit": null
         },
-        "light_response_blank_ratio": {
-          "value": 0.0,
+        "_render_blank_retry[normals_xz_003.png]": {
+          "value": "attempts=6 recovered=False",
           "unit": null
         },
-        "light_response_blank_frames": {
-          "value": 0,
+        "_render_blank_retry[normals_xz_004.png]": {
+          "value": "attempts=6 recovered=False",
           "unit": null
         },
-        "light_response_total_frames": {
-          "value": 30,
+        "_render_blank_retry[normals_xz_005.png]": {
+          "value": "attempts=6 recovered=False",
           "unit": null
         },
-        "light_response_total_pairs": {
-          "value": 29,
+        "_render_blank_retry[normals_xz_006.png]": {
+          "value": "attempts=6 recovered=False",
           "unit": null
         },
-        "light_response_different_pairs": {
-          "value": 25,
+        "_render_blank_retry[normals_xz_007.png]": {
+          "value": "attempts=6 recovered=False",
           "unit": null
         },
-        "light_response_passed": {
-          "value": 1,
+        "_render_blank_retry[normals_xz_008.png]": {
+          "value": "attempts=6 recovered=False",
           "unit": null
         },
-        "light_response_max_pair_change": {
-          "value": 0.745696,
+        "normals_xz_avg_dark": {
+          "value": 0.002488,
           "unit": null
         },
-        "light_response_min_pair_change": {
-          "value": 0.040346,
+        "normals_xz_max_dark": {
+          "value": 0.009022,
+          "unit": null
+        },
+        "normals_xz_problem_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_passed": {
+          "value": 1,
           "unit": null
         }
       },
@@ -1956,101 +2312,17 @@
         }
       ]
     },
-    {
-      "test_name": "normals_xz",
-      "engine": "isaac_sim",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 12.513,
-      "message": "",
-      "metrics": {
-        "_timing_capture_frame_total_s": {
-          "value": 9.228,
-          "unit": null
-        },
-        "_timing_capture_frame_count": {
-          "value": 8,
-          "unit": null
-        },
-        "_timing_capture_frame_avg_ms": {
-          "value": 1153.56,
-          "unit": null
-        },
-        "_timing_encode_video_total_s": {
-          "value": 0.609,
-          "unit": null
-        },
-        "_timing_encode_video_count": {
-          "value": 1,
-          "unit": null
-        },
-        "_render_blank_retry_count": {
-          "value": 7,
-          "unit": null
-        },
-        "_render_blank_retry_unrecovered": {
-          "value": 7,
-          "unit": null
-        },
-        "_render_blank_retry[normals_xz_002.png]": {
-          "value": "attempts=6 recovered=False",
-          "unit": null
-        },
-        "_render_blank_retry[normals_xz_003.png]": {
-          "value": "attempts=6 recovered=False",
-          "unit": null
-        },
-        "_render_blank_retry[normals_xz_004.png]": {
-          "value": "attempts=6 recovered=False",
-          "unit": null
-        },
-        "_render_blank_retry[normals_xz_005.png]": {
-          "value": "attempts=6 recovered=False",
-          "unit": null
-        },
-        "_render_blank_retry[normals_xz_006.png]": {
-          "value": "attempts=6 recovered=False",
-          "unit": null
-        },
-        "_render_blank_retry[normals_xz_007.png]": {
-          "value": "attempts=6 recovered=False",
-          "unit": null
-        },
-        "_render_blank_retry[normals_xz_008.png]": {
-          "value": "attempts=6 recovered=False",
-          "unit": null
-        },
-        "normals_xz_avg_dark": {
-          "value": 0.002427,
-          "unit": null
-        },
-        "normals_xz_max_dark": {
-          "value": 0.008652,
-          "unit": null
-        },
-        "normals_xz_problem_frames": {
-          "value": 0,
-          "unit": null
-        },
-        "normals_xz_passed": {
-          "value": 1,
-          "unit": null
-        }
-      },
-      "kit_logs": []
-    },
     {
       "test_name": "normals_xz",
       "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 12.023,
+      "duration": 9.505,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 8.865,
+          "value": 6.937,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2058,11 +2330,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 1108.11,
+          "value": 867.09,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.666,
+          "value": 0.503,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2106,11 +2378,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.002551,
+          "value": 0.002493,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.008953,
+          "value": 0.008613,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -2196,11 +2468,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 10.586,
+      "duration": 7.943,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 3.527,
+          "value": 2.926,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2208,11 +2480,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 176.36,
+          "value": 146.28,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.613,
+          "value": 1.253,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2256,7 +2528,73 @@
           "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": "pivot",
@@ -2264,11 +2602,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 10.733,
+      "duration": 7.92,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 3.498,
+          "value": 2.873,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2276,11 +2614,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 174.89,
+          "value": 143.66,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.577,
+          "value": 1.271,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2398,11 +2736,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.55,
+      "duration": 1.25,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.244,
+          "value": 0.216,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2410,7 +2748,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 122.01,
+          "value": 107.79,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2430,7 +2768,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.196157,
+          "value": 0.196129,
           "unit": null
         },
         "presence_passed": {
@@ -2512,11 +2850,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.776,
+      "duration": 1.262,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.294,
+          "value": 0.235,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2524,7 +2862,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 146.92,
+          "value": 117.32,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2544,7 +2882,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.196056,
+          "value": 0.196128,
           "unit": null
         },
         "presence_passed": {
@@ -2626,11 +2964,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.62,
+      "duration": 2.951,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.122,
+          "value": 0.994,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2638,7 +2976,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 280.61,
+          "value": 248.6,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2686,7 +3024,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 198601,
+          "value": 198671,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2772,11 +3110,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.231,
+      "duration": 3.018,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.431,
+          "value": 0.906,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2784,7 +3122,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 357.7,
+          "value": 226.53,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2832,7 +3170,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 198611,
+          "value": 198792,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2918,7 +3256,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 50.936,
+      "duration": 35.382,
       "message": "",
       "metrics": {
         "slope_drop_initial_cx": {
@@ -2938,7 +3276,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 12.776,
+          "value": 10.176,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2946,11 +3284,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 245.7,
+          "value": 195.69,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.658,
+          "value": 1.991,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3018,8 +3356,8 @@
       "engine_version": "6.1.0.0",
       "status": "fail",
       "passed": false,
-      "duration": 31.837,
-      "message": "Slope drop FAILED: The asset remained too far from the ramp after contact for 24 consecutive frame(s); peak clearance 0.2418m at frame 318. Review collision contact gaps, restitution, and the video for an upward launch.",
+      "duration": 22.332,
+      "message": "Slope drop FAILED: The asset remained too far from the ramp after contact for 24 consecutive frame(s); peak clearance 0.2417m at frame 318. Review collision contact gaps, restitution, and the video for an upward launch.",
       "metrics": {
         "slope_drop_initial_cx": {
           "value": -0.0,
@@ -3038,7 +3376,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 5.481,
+          "value": 4.066,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3046,11 +3384,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 274.05,
+          "value": 203.32,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.258,
+          "value": 0.983,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3094,7 +3432,7 @@
           "unit": null
         },
         "slope_drop_max_clearance": {
-          "value": 0.2418,
+          "value": 0.2417,
           "unit": "m"
         },
         "slope_drop_separation_frames": {
@@ -3177,6 +3515,84 @@
           "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
         }
       ]
+    },
+    {
+      "test_name": "state_accuracy",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "fail",
+      "passed": false,
+      "duration": 288.867,
+      "message": "STA: 4/16 joints failed state accuracy.\n\nFAILING JOINTS: fl_wheel_joint, fr_wheel_joint, hl_wheel_joint, hr_wheel_joint\n\nWHAT WE FOUND:\n  At least one joint could not hold its commanded position within\n  the tolerance during the 5-waypoint test. Per-joint detail (max\n  position error in degrees, failed targets) is in the warnings\n  above and recorded as `sta_max_position_error_deg` in\n  result.json.\n\nFIX (in priority order):\n  1. Raise drive stiffness/damping on the failing joint(s). On\n     each joint prim, edit:\n         float drive:angular:physics:stiffness = <larger value>\n         float drive:angular:physics:damping   = <larger value>\n     For ARM/SCARA robots FET022 disables robot gravity per-body\n     during STA, so the drive only needs to overcome link inertia;\n     a few hundred N-m/rad is usually enough. If you see large\n     steady-state errors specifically on horizontal-axis joints,\n     the per-body gravity disable may have failed -- check the\n     `articulation.disable_gravity()` and `per-body\n     disable_gravity` events from RobotHandle.initialize in the\n     log.\n  2. If the joint oscillates instead of settling, raise damping\n     by 2-5x before raising stiffness further.\n  3. Verify authored position limits include the test waypoints.\n     The test commands joints to small +/-step targets around 0\n     by default; if 0 is outside your authored range, the test\n     cannot reach it. Edit `physics:lowerLimit` /\n     `physics:upperLimit` on the joint prim.\n  4. Inspect downstream mass. A heavy distal link causes upstream\n     joints to undershoot under default gains. Re-check\n     `physxRigidBody:mass` and `physxRigidBody:diagonalInertia`\n     on each downstream link.\n  5. Increase `test_duration_seconds` (default 3.0) only if the\n     joint is slow but does reach the target eventually.\n  6. Loosen `position_tolerance_deg` (default 5.0) only when\n     intentional steady-state error is acceptable for the asset.\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": {
+          "value": 16,
+          "unit": null
+        },
+        "sta_joints_skipped_passive": {
+          "value": 0,
+          "unit": null
+        },
+        "sta_joints_skipped_mimic_follower": {
+          "value": 0,
+          "unit": null
+        },
+        "sta_joints_skipped_loop": {
+          "value": 0,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 108.814,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 538,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 202.26,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 17.045,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "sta_joints_tested": {
+          "value": 16,
+          "unit": null
+        },
+        "sta_joints_passed": {
+          "value": 12,
+          "unit": null
+        },
+        "sta_joints_failed": {
+          "value": 4,
+          "unit": null
+        },
+        "sta_max_position_error_deg": {
+          "value": 159.39134652585014,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.physxui.scripts.extension",
+          "message": "PhysX has reported too many errors, simulation has been stopped."
+        }
+      ]
     }
   ]
 }

S10/.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": "2026-10-22T17:31:06",
+  "timestamp": "2026-10-23T03:55:24",
   "assets": [
     {
       "asset": "simready_usd/S10.usd",

S10/.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": "2026-10-22T17:31:07",
+  "timestamp": "2026-10-23T03:55:25",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

S10/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "f1ffc21f270dfd96bc23574bbb48de1d5b5c2878099ac7c2e8b520b522b80475"
+        "sha256": "64832859ae266cff9fd4623d39148248a2058d53bd080569fdc8d062b4e2d802"
       }
     },
     {
@@ -26,6 +26,6 @@
     "sha256": "88a6611607240998d8a888b6967f205138fe38f8285f73286ab3920314f56f1f"
   },
   "package_hash": {
-    "sha256": "a8d143b17066f93b6605786f22b3a32adfa37f5118674e7476cebac0ddc9ef6a"
+    "sha256": "858d433afb30f930b44e1b0a31e9028f02daa316f5b5efe0949e1434e1e7f92e"
   }
 }