Add SimReady package: M20S

M20S/.metadata/M20S_benchmark.json

@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0",
   "asset": "M20S",
-  "run_timestamp": "2026-10-22T12:32:02Z",
+  "run_timestamp": "2026-10-22T16:12:09Z",
   "passed": false,
   "results": [
     {
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 22.669,
+      "duration": 21.32,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 16.75,
+          "value": 15.781,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 1046.88,
+          "value": 986.32,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.188,
+          "value": 1.172,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -106,11 +106,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.002952,
+          "value": 0.002941,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 0.000369,
+          "value": 0.000386,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -130,11 +130,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 22.137,
+      "duration": 21.477,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 16.079,
+          "value": 15.971,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -142,11 +142,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 1004.96,
+          "value": 998.19,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.118,
+          "value": 1.143,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -154,7 +154,7 @@
           "unit": null
         },
         "_render_blank_retry_count": {
-          "value": 16,
+          "value": 17,
           "unit": null
         },
         "_render_blank_retry_unrecovered": {
@@ -169,6 +169,10 @@
           "value": "attempts=6 recovered=False",
           "unit": null
         },
+        "_render_blank_retry[culling_xz_on_001.png]": {
+          "value": "attempts=1 recovered=True",
+          "unit": null
+        },
         "_render_blank_retry[culling_xz_off_002.png]": {
           "value": "attempts=6 recovered=False",
           "unit": null
@@ -226,11 +230,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.002859,
+          "value": 0.002949,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 0.000357,
+          "value": 0.000369,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -316,7 +320,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 41.396,
+      "duration": 27.899,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -332,19 +336,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 11.915,
+          "value": 8.25,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 58,
+          "value": 41,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 205.43,
+          "value": 201.23,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.21,
+          "value": 1.681,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -360,11 +364,11 @@
           "unit": null
         },
         "dgv_joints_passed": {
-          "value": 15,
+          "value": 14,
           "unit": null
         },
         "dgv_joints_failed": {
-          "value": 1,
+          "value": 2,
           "unit": null
         }
       },
@@ -373,13 +377,128 @@
     {
       "test_name": "drive_gain_validation",
       "engine": "isaac_sim_newton",
-      "engine_version": "",
-      "status": "fail",
-      "passed": false,
-      "duration": 914.9010000000001,
-      "message": "Test exceeded its declared max_duration of 300 seconds; the engine session was terminated (retries exhausted).",
-      "metrics": {},
-      "kit_logs": []
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 106.199,
+      "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": 25.457,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 116,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 219.46,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 4.351,
+          "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": 16,
+          "unit": null
+        },
+        "dgv_joints_failed": {
+          "value": 0,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/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": "effort_limit",
@@ -387,7 +506,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 305.877,
+      "duration": 286.453,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -403,7 +522,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 71.518,
+          "value": 70.979,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -411,11 +530,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 186.25,
+          "value": 184.84,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 12.773,
+          "value": 12.647,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -451,7 +570,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 373.974,
+      "duration": 362.285,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -467,7 +586,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 76.534,
+          "value": 75.844,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -475,11 +594,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 199.31,
+          "value": 197.51,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 14.726,
+          "value": 13.188,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -575,13 +694,81 @@
         }
       ]
     },
+    {
+      "test_name": "full_range_sweep",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "fail",
+      "passed": false,
+      "duration": 550.985,
+      "message": "FRS: 5/16 joints failed the full-range sweep.\n  Failing joints: fr_hipy_joint, fl_wheel_joint, fr_wheel_joint, hl_wheel_joint, hr_wheel_joint\n\nEach failing joint has one or more per-joint warnings above with its specific\nfailure mode (bbox explode, rest violation at a commanded target, or zero-return\nerror) and a four-to-six-item inspection checklist for the drive gains, drive\nmaxForce, joint limits, and mimic-status of that joint. Walk those first.\n\nQUICK TRIAGE:\n  - If most or all joints fail with rest-violation or zero-return errors: the\n    asset-wide drive tuning is off. Most likely cause is uniformly low stiffness\n    or damping authored across all driven joints, or a configuration mistake\n    (e.g. drive:linear gains on a revolute joint, or vice versa). Spot-check\n    drive:<axis>:physics:stiffness / damping / maxForce on every driven joint\n    prim. DJ.006 ranges: stiffness 100-10000, damping 1-100.\n  - If exactly one or two joints fail: those joints' drive gains or limits are\n    the most likely culprit. Edit the joint prims in USD against the per-joint\n    warnings above.\n  - If failures cite bbox explode: the test detected runaway motion, not a tuning\n    issue alone. Check link mass / inertia, articulation root pinning, and that\n    FET022 per-body gravity disable applied (look for 'articulation.disable_gravity'\n    in RobotHandle.initialize logs).\n  - If failures cite zero-return only (no rest, no bbox): drives are likely under-\n    stiff or under-damped. Bump stiffness/damping by 2x and re-run before chasing\n    deeper authoring issues.\n\nConfiguration overrides (in the FRS phase config) when failures reflect test\npolicy rather than authoring:\n  - 'pause_at_limits_seconds' (default 0.15): widen the rest window for slow-\n    settling drives.\n  - 'rest_check_fatal' (default True): endpoint hold failures contribute to the\n    verdict. Set False only for an explicitly diagnostic run.\n  - 'zero_return_tolerance' (default 0.01): relax only for backlash-heavy hardware.\n\nREFERENCE:\n  Feature:   nv_core/sr_specs/docs/shared/features/FET_022-driven_joints.md\n  Drive:     nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/\n             physics-drive-and-joint-state.md (DJ.001 -- maxForce > 0)\n             drive-joint-value-reasonable.md  (DJ.006 -- stiffness/damping ranges)\n             physics-joint-max-velocity.md    (DJ.005 -- maxJointVelocity > 0)\n  Joints:    nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_joints/requirements/\n             joint-body-target-exists.md\n  Example:   sample_content/common_assets/robots_general/Franka/FrankaResearch3/\n             simready_isaac_usd/FrankaResearch3.usda\n             (search for: physics:lowerLimit, physics:upperLimit,\n              drive:angular:physics:stiffness)",
+      "metrics": {
+        "frs_total_dofs": {
+          "value": 16,
+          "unit": null
+        },
+        "frs_joints_tested": {
+          "value": 16,
+          "unit": null
+        },
+        "frs_passive_joints_skipped": {
+          "value": 0,
+          "unit": null
+        },
+        "frs_loop_joints_skipped": {
+          "value": 0,
+          "unit": null
+        },
+        "frs_bbox_baseline_volume": {
+          "value": 0.03427041119404323,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 102.292,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 480,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 213.11,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 16.174,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "frs_joints_passed": {
+          "value": 11,
+          "unit": null
+        },
+        "frs_joints_failed": {
+          "value": 5,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
     {
       "test_name": "ground_drop",
       "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 29.348,
+      "duration": 28.016,
       "message": "",
       "metrics": {
         "ground_drop_initial_z_min": {
@@ -597,7 +784,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 9.693,
+          "value": 9.469,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -605,11 +792,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 215.41,
+          "value": 210.42,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.987,
+          "value": 1.833,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -657,7 +844,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 51.031,
+      "duration": 52.632,
       "message": "",
       "metrics": {
         "ground_drop_initial_z_min": {
@@ -673,7 +860,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 10.413,
+          "value": 10.086,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -681,11 +868,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 216.93,
+          "value": 210.13,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.092,
+          "value": 2.078,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -793,17 +980,147 @@
         }
       ]
     },
+    {
+      "test_name": "ik_target_reach",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 1.187,
+      "message": "IK Target Reach phase cannot run: no Lula kinematics descriptor matched this asset.\n\n  Found:    asset_path='<home>/nvidia-submission/simready-tools/assets/M20S/simready_usd/M20S.usd'\n            isaac:robotType='LEGGED'\n  Expected: the asset's path OR its IsaacRobotAPI.isaac:robotType\n            value contains one of the canonical Lula-supported\n            robot keys (case-insensitive substring match):\n              Franka, UR3, UR5, UR10, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4\n\nFIX (asset-authoring): the Lula IK solver needs a descriptor YAML +\nURDF pair to know your robot's kinematic chain. Two ways to satisfy\nthis test:\n\n  1. RENAME / RETAG to a supported model. If your robot IS one of the\n     supported models above, ensure the asset folder name (or the\n     default prim's isaac:robotType token) contains the canonical\n     key. For example, place the asset under a folder containing\n     'Franka' or set:\n         token isaac:robotType = \"Manipulator\"\n         string isaac:robotName = \"Franka\"\n     on the default prim.\n\n  2. PROVIDE an explicit Lula descriptor. Set the phase config in\n     your test profile:\n         lula_robot_name: \"<canonical-name>\"\n         lula_yaml_path:  \"./abs/path/to/robot_descriptor.yaml\"\n         lula_urdf_path:  \"./abs/path/to/robot.urdf\"\n     The YAML must list the kinematic chain (base_link, cspace,\n     active joints, default_q) per Isaac Sim's Lula descriptor\n     format. See any policy in the policy_map directory cited below\n     for a working template.\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/robot_core/requirements/robot-type.md (RC.008)\n             nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/robot_core/requirements/robot-schema.md (RC.007)\n  Feature:   nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_021_ISAAC.md\n  Lula descriptors: Isaac Sim ships YAML+URDF pairs under\n             isaacsim.robot_motion.motion_generation/policies/\n             policy_map.json -- keyed by canonical robot name\n             (Franka, UR3, UR5, UR10, UR16e, Kinova_Gen3,\n              Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta,\n              Festo_Cobot, Rethink_Sawyer, Rizon4).\n  Example:   Any Franka_*.usd or UR10_*.usd asset under\n             sample_content/common_assets/robots_general/ -- the\n             asset folder name contains the canonical robot key\n             and the default prim sets isaac:robotType=\"Manipulator\".",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "jacobian_ik",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "fail",
+      "passed": false,
+      "duration": 62.028,
+      "message": "JIK: in-reach pass rate 0.00 below minimum 0.40 -- the asset's\narticulation could not reach enough generated targets to pass.\n\nWhat the test found:\n  - 0 / 5 in-reach targets passed.\n  - 5 failed because the DLS solver could not find a joint\n    solution (red sphere in the captured video).\n  - 0 failed because the solver succeeded but the PD drives did\n    not track the precomputed solution to within tolerance\n    (orange sphere).\n  - Worst position error: inf m (tolerance 0.050 m).\n  - Worst orientation error: inf deg (tolerance 10.00 deg).\n  - End-effector under test: /World/AssetRoot/Asset/hr_wheel.\n  - Failed targets: target_0, target_1, target_2, target_3, target_4.\n\nFIX -- triage in this order:\n\n  1) Open the captured video. Targets coloured RED never had a\n     joint solution. Targets coloured ORANGE had a solution but\n     the robot did not get there -- a drive-tuning problem.\n\n  2) For ORANGE (motion failed) on a `PhysicsRevoluteJoint`,\n     inspect drive stiffness / damping on each joint. Industrial\n     arms typically need:\n\n         def PhysicsRevoluteJoint \"joint_3\" (\n             prepend apiSchemas = [\"PhysicsDriveAPI:angular\"]\n         )\n         {\n             # Example values for a 25 kg-link arm; scale with\n             # link inertia. Stiffness too low -> drift; too\n             # high -> oscillation.\n             float drive:angular:physics:stiffness = 10000.0\n             float drive:angular:physics:damping   = 1000.0\n             float drive:angular:physics:maxForce  = 1000.0\n         }\n\n  3) For RED (solver failed), the Jacobian is singular or the\n     joint limits are too tight. Verify each joint declares\n     non-zero limits:\n\n         float physics:lowerLimit = -180.0\n         float physics:upperLimit =  180.0\n\n     and that the EE link (/World/AssetRoot/Asset/hr_wheel) is the LAST link in the chain --\n     a tip link with no preceding revolute joint cannot be\n     reached by a Jacobian solver.\n\n  4) Asset fix: Tune drive stiffness/damping so each joint can hold its\n     commanded position under JIK's smoothstep motion -- start\n     by doubling stiffness on the joint(s) showing the largest\n     tracking error in the video.\n\n  5) Engine note: JIK uses a damped least-squares Jacobian solver with USD\n     forward kinematics; ensure the asset's joints are exposed\n     in the SingleArticulation's `dof_names`.\n\n  6) TEST-CONFIG escape hatches (use only when the asset is\n     genuinely correct but the defaults are wrong for it):\n     - Reduce `target_radius_factors` (default (0.5, 0.7, 0.9))\n       when the bbox-based reach estimate overshoots the actual\n       workspace (common on non-extended / folded arms).\n     - Loosen `position_tolerance` / `orientation_tolerance_deg`\n       (defaults 0.05 m / 10 deg) when the asset's PD drive has\n       intentional steady-state error.\n     - Increase `max_solver_iterations` (default 50) when DLS\n       convergence is slow on long-armed or heavily damped\n       robots.\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_joints/requirements/articulation.md\n             nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_joints/requirements/joint-body-target-exists.md\n             nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/hierarchy/requirements/kinematic-chain-hierarchy.md\n  Example:   sample_content/common_assets/robots_general/Franka/Franka.usda\n             (search for: PhysicsArticulationRootAPI, PhysicsRevoluteJoint)",
+      "metrics": {
+        "jik_robot_reach": {
+          "value": 0.587,
+          "unit": null
+        },
+        "jik_target_radius": {
+          "value": 0.5283,
+          "unit": null
+        },
+        "jik_base_position_x": {
+          "value": -0.0002,
+          "unit": null
+        },
+        "jik_base_position_y": {
+          "value": -0.0002,
+          "unit": null
+        },
+        "jik_base_position_z": {
+          "value": 0.59,
+          "unit": null
+        },
+        "jik_max_observed_reach": {
+          "value": 0.6429,
+          "unit": null
+        },
+        "jik_distinct_reachable_targets": {
+          "value": 5,
+          "unit": null
+        },
+        "jik_bbox_baseline_volume": {
+          "value": 0.155865,
+          "unit": null
+        },
+        "jik_total_iterations": {
+          "value": 0,
+          "unit": null
+        },
+        "jik_targets_generated": {
+          "value": 7,
+          "unit": null
+        },
+        "jik_targets_reached": {
+          "value": 0,
+          "unit": null
+        },
+        "jik_targets_total_passed": {
+          "value": 2,
+          "unit": null
+        },
+        "jik_targets_in_reach": {
+          "value": 5,
+          "unit": null
+        },
+        "jik_targets_out_of_reach": {
+          "value": 2,
+          "unit": null
+        },
+        "jik_in_reach_failed": {
+          "value": 5,
+          "unit": null
+        },
+        "jik_in_reach_passed_green": {
+          "value": 0,
+          "unit": null
+        },
+        "jik_in_reach_solver_failed_red": {
+          "value": 5,
+          "unit": null
+        },
+        "jik_in_reach_motion_failed_orange": {
+          "value": 0,
+          "unit": null
+        },
+        "jik_out_of_reach_correctly_failed_magenta": {
+          "value": 2,
+          "unit": null
+        },
+        "jik_out_of_reach_false_positive_yellow": {
+          "value": 0,
+          "unit": null
+        },
+        "jik_max_position_error_m": {
+          "value": Infinity,
+          "unit": null
+        },
+        "jik_max_orientation_error_deg": {
+          "value": Infinity,
+          "unit": null
+        },
+        "jik_pass_rate": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jik_ee_link": {
+          "value": "/World/AssetRoot/Asset/hr_wheel",
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.physx.plugin",
+          "message": "PhysX error: PxArticulationJointReducedCoordinate::setDriveTarget() only supports target angle in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE ./builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 393"
+        },
+        {
+          "level": "error",
+          "channel": "omni.physx.plugin",
+          "message": "PhysX error: Exceeding maximum number of PhysX errors (1000). omni.physx will ignore logging subsequent errors to user interface until simulation stop"
+        }
+      ]
+    },
     {
       "test_name": "joint_movement",
       "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 70.833,
+      "duration": 69.888,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 11.282,
+          "value": 11.121,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -811,11 +1128,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 250.72,
+          "value": 247.12,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.737,
+          "value": 1.998,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -835,7 +1152,7 @@
           "unit": null
         },
         "jm_joint_fl_hipx_joint_trans_pct": {
-          "value": 30.46,
+          "value": 254.19,
           "unit": null
         },
         "jm_joint_fl_hipx_joint_bbox_m": {
@@ -851,7 +1168,7 @@
           "unit": null
         },
         "jm_joint_fl_hipy_joint_trans_pct": {
-          "value": 149.76,
+          "value": 281.21,
           "unit": null
         },
         "jm_joint_fl_hipy_joint_bbox_m": {
@@ -867,7 +1184,7 @@
           "unit": null
         },
         "jm_joint_fl_knee_joint_trans_pct": {
-          "value": 150.3,
+          "value": 366.5,
           "unit": null
         },
         "jm_joint_fl_knee_joint_bbox_m": {
@@ -883,7 +1200,7 @@
           "unit": null
         },
         "jm_joint_fl_wheel_joint_trans_pct": {
-          "value": 103.62,
+          "value": 177.78,
           "unit": null
         },
         "jm_joint_fl_wheel_joint_bbox_m": {
@@ -899,7 +1216,7 @@
           "unit": null
         },
         "jm_joint_fr_hipx_joint_trans_pct": {
-          "value": 30.9,
+          "value": 257.75,
           "unit": null
         },
         "jm_joint_fr_hipx_joint_bbox_m": {
@@ -915,7 +1232,7 @@
           "unit": null
         },
         "jm_joint_fr_hipy_joint_trans_pct": {
-          "value": 150.03,
+          "value": 281.1,
           "unit": null
         },
         "jm_joint_fr_hipy_joint_bbox_m": {
@@ -931,7 +1248,7 @@
           "unit": null
         },
         "jm_joint_fr_knee_joint_trans_pct": {
-          "value": 150.24,
+          "value": 365.57,
           "unit": null
         },
         "jm_joint_fr_knee_joint_bbox_m": {
@@ -947,7 +1264,7 @@
           "unit": null
         },
         "jm_joint_fr_wheel_joint_trans_pct": {
-          "value": 103.92,
+          "value": 177.59,
           "unit": null
         },
         "jm_joint_fr_wheel_joint_bbox_m": {
@@ -963,7 +1280,7 @@
           "unit": null
         },
         "jm_joint_hl_hipx_joint_trans_pct": {
-          "value": 30.98,
+          "value": 257.83,
           "unit": null
         },
         "jm_joint_hl_hipx_joint_bbox_m": {
@@ -979,7 +1296,7 @@
           "unit": null
         },
         "jm_joint_hl_hipy_joint_trans_pct": {
-          "value": 149.88,
+          "value": 280.81,
           "unit": null
         },
         "jm_joint_hl_hipy_joint_bbox_m": {
@@ -995,7 +1312,7 @@
           "unit": null
         },
         "jm_joint_hl_knee_joint_trans_pct": {
-          "value": 150.19,
+          "value": 366.16,
           "unit": null
         },
         "jm_joint_hl_knee_joint_bbox_m": {
@@ -1011,7 +1328,7 @@
           "unit": null
         },
         "jm_joint_hl_wheel_joint_trans_pct": {
-          "value": 57.83,
+          "value": 125.5,
           "unit": null
         },
         "jm_joint_hl_wheel_joint_bbox_m": {
@@ -1027,7 +1344,7 @@
           "unit": null
         },
         "jm_joint_hr_hipx_joint_trans_pct": {
-          "value": 30.94,
+          "value": 257.8,
           "unit": null
         },
         "jm_joint_hr_hipx_joint_bbox_m": {
@@ -1043,7 +1360,7 @@
           "unit": null
         },
         "jm_joint_hr_hipy_joint_trans_pct": {
-          "value": 149.98,
+          "value": 280.38,
           "unit": null
         },
         "jm_joint_hr_hipy_joint_bbox_m": {
@@ -1059,7 +1376,7 @@
           "unit": null
         },
         "jm_joint_hr_knee_joint_trans_pct": {
-          "value": 150.08,
+          "value": 365.02,
           "unit": null
         },
         "jm_joint_hr_knee_joint_bbox_m": {
@@ -1075,7 +1392,7 @@
           "unit": null
         },
         "jm_joint_hr_wheel_joint_trans_pct": {
-          "value": 57.91,
+          "value": 125.42,
           "unit": null
         },
         "jm_joint_hr_wheel_joint_bbox_m": {
@@ -1171,11 +1488,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 45.848,
+      "duration": 47.402,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 9.383,
+          "value": 9.418,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1183,11 +1500,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 208.52,
+          "value": 209.28,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.774,
+          "value": 1.861,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1207,7 +1524,7 @@
           "unit": null
         },
         "jm_joint_fl_hipx_joint_trans_pct": {
-          "value": 12.23,
+          "value": 208.2,
           "unit": null
         },
         "jm_joint_fl_hipx_joint_bbox_m": {
@@ -1223,7 +1540,7 @@
           "unit": null
         },
         "jm_joint_fl_hipy_joint_trans_pct": {
-          "value": 148.9,
+          "value": 281.15,
           "unit": null
         },
         "jm_joint_fl_hipy_joint_bbox_m": {
@@ -1239,7 +1556,7 @@
           "unit": null
         },
         "jm_joint_fl_knee_joint_trans_pct": {
-          "value": 145.55,
+          "value": 363.95,
           "unit": null
         },
         "jm_joint_fl_knee_joint_bbox_m": {
@@ -1255,7 +1572,7 @@
           "unit": null
         },
         "jm_joint_fl_wheel_joint_trans_pct": {
-          "value": 100.34,
+          "value": 174.28,
           "unit": null
         },
         "jm_joint_fl_wheel_joint_bbox_m": {
@@ -1271,7 +1588,7 @@
           "unit": null
         },
         "jm_joint_fr_hipx_joint_trans_pct": {
-          "value": 12.61,
+          "value": 210.88,
           "unit": null
         },
         "jm_joint_fr_hipx_joint_bbox_m": {
@@ -1287,7 +1604,7 @@
           "unit": null
         },
         "jm_joint_fr_hipy_joint_trans_pct": {
-          "value": 149.17,
+          "value": 280.7,
           "unit": null
         },
         "jm_joint_fr_hipy_joint_bbox_m": {
@@ -1303,7 +1620,7 @@
           "unit": null
         },
         "jm_joint_fr_knee_joint_trans_pct": {
-          "value": 145.47,
+          "value": 362.48,
           "unit": null
         },
         "jm_joint_fr_knee_joint_bbox_m": {
@@ -1319,7 +1636,7 @@
           "unit": null
         },
         "jm_joint_fr_wheel_joint_trans_pct": {
-          "value": 100.85,
+          "value": 174.04,
           "unit": null
         },
         "jm_joint_fr_wheel_joint_bbox_m": {
@@ -1335,7 +1652,7 @@
           "unit": null
         },
         "jm_joint_hl_hipx_joint_trans_pct": {
-          "value": 12.66,
+          "value": 210.83,
           "unit": null
         },
         "jm_joint_hl_hipx_joint_bbox_m": {
@@ -1351,7 +1668,7 @@
           "unit": null
         },
         "jm_joint_hl_hipy_joint_trans_pct": {
-          "value": 149.0,
+          "value": 280.88,
           "unit": null
         },
         "jm_joint_hl_hipy_joint_bbox_m": {
@@ -1367,7 +1684,7 @@
           "unit": null
         },
         "jm_joint_hl_knee_joint_trans_pct": {
-          "value": 145.48,
+          "value": 363.72,
           "unit": null
         },
         "jm_joint_hl_knee_joint_bbox_m": {
@@ -1383,7 +1700,7 @@
           "unit": null
         },
         "jm_joint_hl_wheel_joint_trans_pct": {
-          "value": 54.1,
+          "value": 123.34,
           "unit": null
         },
         "jm_joint_hl_wheel_joint_bbox_m": {
@@ -1399,7 +1716,7 @@
           "unit": null
         },
         "jm_joint_hr_hipx_joint_trans_pct": {
-          "value": 12.65,
+          "value": 210.85,
           "unit": null
         },
         "jm_joint_hr_hipx_joint_bbox_m": {
@@ -1415,7 +1732,7 @@
           "unit": null
         },
         "jm_joint_hr_hipy_joint_trans_pct": {
-          "value": 149.1,
+          "value": 280.1,
           "unit": null
         },
         "jm_joint_hr_hipy_joint_bbox_m": {
@@ -1431,7 +1748,7 @@
           "unit": null
         },
         "jm_joint_hr_knee_joint_trans_pct": {
-          "value": 145.33,
+          "value": 362.04,
           "unit": null
         },
         "jm_joint_hr_knee_joint_bbox_m": {
@@ -1447,7 +1764,7 @@
           "unit": null
         },
         "jm_joint_hr_wheel_joint_trans_pct": {
-          "value": 54.48,
+          "value": 123.11,
           "unit": null
         },
         "jm_joint_hr_wheel_joint_bbox_m": {
@@ -1514,94 +1831,28 @@
           "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"
+        "jm_joint_hl_wheel_joint_status": {
+          "value": "passed",
+          "unit": null
         },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        "jm_joint_hr_hipx_joint_status": {
+          "value": "passed",
+          "unit": null
         },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        "jm_joint_hr_hipy_joint_status": {
+          "value": "passed",
+          "unit": null
         },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        "jm_joint_hr_knee_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_hr_wheel_joint_status": {
+          "value": "passed",
+          "unit": null
         }
-      ]
+      },
+      "kit_logs": []
     },
     {
       "test_name": "light_response",
@@ -1609,11 +1860,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 13.644,
+      "duration": 12.749,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.419,
+          "value": 4.328,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1621,11 +1872,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 147.29,
+          "value": 144.26,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.253,
+          "value": 1.228,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1669,11 +1920,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.742628,
+          "value": 0.744356,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.034735,
+          "value": 0.035113,
           "unit": null
         }
       },
@@ -1685,11 +1936,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 13.129,
+      "duration": 12.667,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.145,
+          "value": 4.092,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1697,11 +1948,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 138.16,
+          "value": 136.39,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.221,
+          "value": 1.191,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1745,11 +1996,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.746074,
+          "value": 0.74865,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.033223,
+          "value": 0.033238,
           "unit": null
         }
       },
@@ -1821,17 +2072,101 @@
         }
       ]
     },
+    {
+      "test_name": "mimic_joint",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 1.227,
+      "message": "MIM: no PhysxMimicJointAPI found on any joint under the asset prim.\n\n  Found:    0 joints with PhysxMimicJointAPI applied\n  Expected: at least one revolute or prismatic joint with\n            PhysxMimicJointAPI:<axisToken> applied (rotX/rotY/rotZ\n            or transX/transY/transZ)\n\nFIX (if your asset has coupled joints, e.g. a parallel-jaw gripper\nwhere the two finger joints must move together):\n  1. Pick the driven joint and call it the REFERENCE joint. Leave\n     it with a normal drive (PhysicsDriveAPI or JointStateAPI).\n  2. On each FOLLOWER joint, apply PhysxMimicJointAPI keyed to that\n     joint's physics:axis instance token (e.g. \"rotX\" for a\n     revolute joint with physics:axis = \"X\").\n  3. Set physxMimicJoint:<axis>:gearing (non-zero) and\n     physxMimicJoint:<axis>:referenceJoint pointing at the\n     reference joint's prim path.\n  4. Both follower AND reference joints must have physics:lowerLimit\n     and physics:upperLimit authored, and neither may have\n     physics:excludeFromArticulation = true.\n\nPaste-ready USDA snippet (adapt paths, axis token, gearing sign,\nand limits to your asset):\n\n    # The follower joint: applies PhysxMimicJointAPI keyed to the axis\n    # token of the joint (rotX/rotY/rotZ for revolute, transX/transY/\n    # transZ for prismatic). The instance name MUST match physics:axis.\n    def PhysicsRevoluteJoint \"follower_joint\" (\n        prepend apiSchemas = [\"PhysxMimicJointAPI:rotX\"]\n    )\n    {\n        uniform token physics:axis = \"X\"\n        rel physics:body0 = <./path/to/parent_link>\n        rel physics:body1 = <./path/to/follower_link>\n        float physics:lowerLimit = -45.0   # required: limits must be authored\n        float physics:upperLimit =  45.0\n\n        # ---- PhysxMimicJointAPI:rotX attributes ----\n        # gearing: \u0394q_follower = gearing * \u0394q_reference + offset\n        # Must be a non-zero real number. Sign encodes direction:\n        # -1 = follower moves opposite the reference (typical for\n        # parallel-jaw grippers where one jaw mirrors the other).\n        float physxMimicJoint:rotX:gearing = -1.0\n        float physxMimicJoint:rotX:offset = 0.0\n        float physxMimicJoint:rotX:naturalFrequency = 100.0\n        float physxMimicJoint:rotX:dampingRatio = 0.0\n        # referenceJoint must point at a joint that does NOT itself\n        # carry PhysxMimicJointAPI (no chains/cycles).\n        rel physxMimicJoint:rotX:referenceJoint = <./path/to/reference_joint>\n    }\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n  Example:   sample_content/common_assets/robots_general/Robotiq/ezu_35/simready_isaac_usd/payloads/Physics/physx.usda\n             (search for: PhysxMimicJointAPI:rotX on GBA2_TRANS_2 / GBA3_TRANS_3 referencing Jaw_Drive with gearing = -1)\n\nNote: this test is SKIPPED (not failed) because mimic joints are\noptional. If your asset truly has no coupled joints, this skip is\nexpected and benign.",
+      "metrics": {
+        "mim_mimic_pairs_detected": {
+          "value": 0,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "multi_joint_coordination",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "fail",
+      "passed": false,
+      "duration": 14.134,
+      "message": "Test setup/runtime error (AttributeError): 'NoneType' object has no attribute 'joint_positions'",
+      "metrics": {
+        "mjc_total_joints": {
+          "value": 16,
+          "unit": null
+        },
+        "mjc_valid_joints": {
+          "value": 16,
+          "unit": null
+        },
+        "mjc_loop_joints_skipped": {
+          "value": 0,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 3.49,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 218.1,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.physxui.scripts.extension",
+          "message": "PhysX has reported too many errors, simulation has been stopped."
+        },
+        {
+          "level": "error",
+          "channel": "omni.physx.plugin",
+          "message": "PhysX error: PxArticulationJointReducedCoordinate::setDriveTarget() only supports target angle in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE ./builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 393"
+        },
+        {
+          "level": "error",
+          "channel": "omni.physx.plugin",
+          "message": "PhysX error: Exceeding maximum number of PhysX errors (1000). omni.physx will ignore logging subsequent errors to user interface until simulation stop"
+        }
+      ]
+    },
     {
       "test_name": "normals_xz",
       "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 12.185,
+      "duration": 11.459,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 8.636,
+          "value": 7.883,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1839,11 +2174,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 1079.44,
+          "value": 985.34,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.452,
+          "value": 0.498,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1895,11 +2230,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.002092,
+          "value": 0.001507,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.009173,
+          "value": 0.007764,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -1985,11 +2320,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 11.613,
+      "duration": 11.375,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 7.984,
+          "value": 7.827,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1997,11 +2332,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 998.06,
+          "value": 978.35,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.518,
+          "value": 0.505,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2053,11 +2388,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.00133,
+          "value": 0.001498,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.008209,
+          "value": 0.008623,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -2141,13 +2476,13 @@
       "test_name": "pivot",
       "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
-      "status": "skipped",
-      "passed": false,
-      "duration": 8.027,
-      "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).",
+      "status": "pass",
+      "passed": true,
+      "duration": 8.088,
+      "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.748,
+          "value": 2.856,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2155,11 +2490,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 137.4,
+          "value": 142.79,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.148,
+          "value": 1.368,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2175,15 +2510,15 @@
           "unit": null
         },
         "pivot_score": {
-          "value": 0.2,
+          "value": 0.9,
           "unit": null
         },
         "pivot_pivot_height_pct": {
-          "value": 87.4,
+          "value": -0.7,
           "unit": null
         },
         "pivot_pivot_at_base": {
-          "value": 0,
+          "value": 1,
           "unit": null
         },
         "pivot_pivot_centered_xy": {
@@ -2199,7 +2534,7 @@
           "unit": null
         },
         "pivot_passed": {
-          "value": 0,
+          "value": 1,
           "unit": null
         }
       },
@@ -2275,13 +2610,13 @@
       "test_name": "pivot",
       "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
-      "status": "skipped",
-      "passed": false,
-      "duration": 7.72,
-      "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).",
+      "status": "pass",
+      "passed": true,
+      "duration": 8.088,
+      "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.724,
+          "value": 2.972,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2289,11 +2624,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 136.21,
+          "value": 148.61,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.157,
+          "value": 1.314,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2309,15 +2644,15 @@
           "unit": null
         },
         "pivot_score": {
-          "value": 0.2,
+          "value": 0.9,
           "unit": null
         },
         "pivot_pivot_height_pct": {
-          "value": 87.4,
+          "value": -0.7,
           "unit": null
         },
         "pivot_pivot_at_base": {
-          "value": 0,
+          "value": 1,
           "unit": null
         },
         "pivot_pivot_centered_xy": {
@@ -2333,7 +2668,7 @@
           "unit": null
         },
         "pivot_passed": {
-          "value": 0,
+          "value": 1,
           "unit": null
         }
       },
@@ -2411,11 +2746,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.338,
+      "duration": 3.206,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.301,
+          "value": 1.219,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2423,7 +2758,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 650.72,
+          "value": 609.26,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2451,7 +2786,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.176318,
+          "value": 0.176565,
           "unit": null
         },
         "presence_passed": {
@@ -2533,11 +2868,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.398,
+      "duration": 3.417,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.295,
+          "value": 1.26,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2545,7 +2880,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 647.37,
+          "value": 630.11,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2573,7 +2908,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.176347,
+          "value": 0.176558,
           "unit": null
         },
         "presence_passed": {
@@ -2655,11 +2990,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.094,
+      "duration": 3.085,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.916,
+          "value": 0.995,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2667,7 +3002,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 229.0,
+          "value": 248.68,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2715,7 +3050,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 183939,
+          "value": 184002,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2801,11 +3136,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.082,
+      "duration": 3.265,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.921,
+          "value": 0.893,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2813,7 +3148,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 230.22,
+          "value": 223.14,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2861,7 +3196,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 183887,
+          "value": 183992,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2947,7 +3282,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 39.905,
+      "duration": 38.478,
       "message": "",
       "metrics": {
         "slope_drop_initial_cx": {
@@ -2967,7 +3302,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 10.645,
+          "value": 10.084,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2975,11 +3310,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 204.71,
+          "value": 193.92,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.029,
+          "value": 2.061,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3023,7 +3358,7 @@
           "unit": null
         },
         "slope_drop_max_clearance": {
-          "value": 0.023,
+          "value": 0.0173,
           "unit": "m"
         },
         "slope_drop_separation_frames": {
@@ -3031,7 +3366,7 @@
           "unit": null
         },
         "slope_drop_left_slope_frame": {
-          "value": 537,
+          "value": 543,
           "unit": null
         },
         "slope_drop_horiz_time": {
@@ -3039,7 +3374,73 @@
           "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": "slope_drop",
@@ -3047,8 +3448,8 @@
       "engine_version": "6.1.0.0",
       "status": "fail",
       "passed": false,
-      "duration": 26.556,
-      "message": "Slope drop FAILED: The asset remained too far from the ramp after contact for 24 consecutive frame(s); peak clearance 0.1671m at frame 390. Review collision contact gaps, restitution, and the video for an upward launch.",
+      "duration": 24.815,
+      "message": "Slope drop FAILED: The asset remained too far from the ramp after contact for 24 consecutive frame(s); peak clearance 0.1472m at frame 340. Review collision contact gaps, restitution, and the video for an upward launch.",
       "metrics": {
         "slope_drop_initial_cx": {
           "value": -0.0,
@@ -3067,19 +3468,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 5.273,
+          "value": 4.595,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 25,
+          "value": 22,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 210.91,
+          "value": 208.85,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.223,
+          "value": 1.097,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3123,7 +3524,7 @@
           "unit": null
         },
         "slope_drop_max_clearance": {
-          "value": 0.1671,
+          "value": 0.1472,
           "unit": "m"
         },
         "slope_drop_separation_frames": {
@@ -3131,7 +3532,7 @@
           "unit": null
         },
         "slope_drop_separation_frame": {
-          "value": 390,
+          "value": 340,
           "unit": null
         },
         "slope_drop_horiz_time": {
@@ -3139,7 +3540,73 @@
           "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'"
+        }
+      ]
     }
   ]
 }

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

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package-Candidate",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-22T16:12:11",
+  "assets": [
+    {
+      "asset": "simready_usd/M20S.usd",
+      "features": [
+        {
+          "FET_031_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_033_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_031_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

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

@@ -2,7 +2,7 @@
   "format_version": "1.0",
   "profile": "Package",
   "profile_version": "1.0.0",
-  "timestamp": "2026-10-22T12:32:04",
+  "timestamp": "2026-10-22T16:12:12",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

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

@@ -27,10 +27,10 @@
     },
     {
       "relative_path": "simready_usd/M20S.usd",
-      "size": 3262,
+      "size": 5123,
       "hash": {
-        "sha256-flat-1mb": "635a352a77451cde2a557267690bf2262ec31702e049568ebf6e14afd41f723d",
-        "sha256": "f60bfe3d374860ae8fd10ab463e71f154d7e08e50cdff39b08546c42e09af942"
+        "sha256-flat-1mb": "be0aa0232d9d6f0322139b335f1a394cae1d2373febcc86eb897c8151339c1dc",
+        "sha256": "c0e0660aff6600f6acd40776d8e6eb014a86bd9b594e28f0301cd5d0eaa5d921"
       }
     },
     {

M20S/.metadata/com.nvidia.simready.root_usds.json

@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/M20S.usd"
+  ]
+}

M20S/com.nvidia.simready.packaging.json

@@ -6,13 +6,13 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "050d3312068ecb0a02f868f445fb64ecc32bdd49a4170e8fbbb7835c01f4e07e"
+        "sha256": "a3d4241b1e015e83970c9ecf045d861e54bb8ec8ce3ca2091b1bee6b62820dd0"
       }
     },
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "ec1e5ff7a4ff588ba77398983841802e00947114774b66a314812bc9ef262506"
+        "sha256": "02dbffc44a5b1f195654bb7280954138ff8051d059ffde9ef3624b5de73cb9e1"
       }
     },
     {
@@ -23,9 +23,9 @@
     }
   ],
   "content_hash": {
-    "sha256": "2a1391720c2d0071c37792e79032842978c3fd40bf7f94ac7014da0a6f39225d"
+    "sha256": "ee3ccbad78d156b6718c5a16d0f0e12b810c9faf241f7c8aa49a2deb26b4c19c"
   },
   "package_hash": {
-    "sha256": "37255ccb16daac0fd4e32562545ce86a4a42628b763fba11082dabfeacea3c36"
+    "sha256": "19e226a7252d646b6cbba700da8a67726ef23b02e708bf4aa2d5319afce74678"
   }
 }