Add SimReady package: M20S

M20S/.metadata/M20S_benchmark.json

@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0",
   "asset": "M20S",
-  "run_timestamp": "2026-10-22T18:08:12Z",
+  "run_timestamp": "2026-10-23T02:39:00Z",
   "passed": false,
   "results": [
     {
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 25.409,
+      "duration": 21.058,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 18.879,
+          "value": 15.647,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 1179.94,
+          "value": 977.93,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.391,
+          "value": 1.172,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -34,7 +34,7 @@
           "unit": null
         },
         "_render_blank_retry_count": {
-          "value": 16,
+          "value": 17,
           "unit": null
         },
         "_render_blank_retry_unrecovered": {
@@ -49,6 +49,10 @@
           "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
@@ -106,11 +110,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.003064,
+          "value": 0.002885,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 0.000383,
+          "value": 0.000361,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -130,11 +134,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 26.349,
+      "duration": 21.82,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 18.902,
+          "value": 15.867,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -142,11 +146,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 1181.39,
+          "value": 991.67,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.496,
+          "value": 2.076,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -154,7 +158,7 @@
           "unit": null
         },
         "_render_blank_retry_count": {
-          "value": 16,
+          "value": 17,
           "unit": null
         },
         "_render_blank_retry_unrecovered": {
@@ -169,6 +173,10 @@
           "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 +234,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.002867,
+          "value": 0.002997,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 0.000358,
+          "value": 0.000375,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -316,7 +324,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 34.725,
+      "duration": 23.593,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -332,7 +340,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 8.295,
+          "value": 7.053,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -340,11 +348,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 224.19,
+          "value": 190.62,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.841,
+          "value": 1.452,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -368,73 +376,7 @@
           "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": "drive_gain_validation",
@@ -442,7 +384,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 110.009,
+      "duration": 80.922,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -458,7 +400,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 23.106,
+          "value": 20.248,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -466,11 +408,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 240.68,
+          "value": 210.92,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 4.416,
+          "value": 3.381,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -568,7 +510,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 393.212,
+      "duration": 257.103,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -584,7 +526,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 81.084,
+          "value": 68.714,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -592,11 +534,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 211.16,
+          "value": 178.94,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 16.328,
+          "value": 12.229,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -632,7 +574,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 473.856,
+      "duration": 333.787,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -648,7 +590,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 86.881,
+          "value": 73.795,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -656,11 +598,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 226.25,
+          "value": 192.17,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 15.693,
+          "value": 12.802,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -688,6 +630,140 @@
           "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": "full_range_sweep",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "fail",
+      "passed": false,
+      "duration": 514.028,
+      "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": 0.03427060219125823,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 98.058,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 480,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 204.29,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 15.333,
+          "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": []
     },
     {
@@ -696,7 +772,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 36.813,
+      "duration": 28.86,
       "message": "",
       "metrics": {
         "ground_drop_initial_z_min": {
@@ -712,7 +788,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 11.296,
+          "value": 9.242,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -720,11 +796,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 251.02,
+          "value": 205.37,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.209,
+          "value": 1.891,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -764,7 +840,73 @@
           "unit": null
         }
       },
-      "kit_logs": []
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
     },
     {
       "test_name": "ground_drop",
@@ -772,7 +914,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 66.11,
+      "duration": 52.759,
       "message": "",
       "metrics": {
         "ground_drop_initial_z_min": {
@@ -788,7 +930,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 12.017,
+          "value": 10.237,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -796,11 +938,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 250.35,
+          "value": 213.27,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.481,
+          "value": 1.965,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -908,17 +1050,158 @@
         }
       ]
     },
+    {
+      "test_name": "ik_target_reach",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 1.04,
+      "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": "ik_target_reach",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 4.968,
+      "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": 90.849,
+      "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": 0.5871,
+          "unit": null
+        },
+        "jik_target_radius": {
+          "value": 0.5284,
+          "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": 0.6353,
+          "unit": null
+        },
+        "jik_distinct_reachable_targets": {
+          "value": 5,
+          "unit": null
+        },
+        "jik_bbox_baseline_volume": {
+          "value": 0.090669,
+          "unit": null
+        },
+        "jik_total_iterations": {
+          "value": 150,
+          "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": 90.816,
+      "duration": 63.108,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 12.447,
+          "value": 10.553,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -926,11 +1209,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 276.59,
+          "value": 234.51,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.205,
+          "value": 1.768,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1286,11 +1569,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 59.341,
+      "duration": 43.143,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 10.838,
+          "value": 8.962,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1298,11 +1581,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 240.84,
+          "value": 199.16,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.045,
+          "value": 1.742,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1724,11 +2007,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 15.776,
+      "duration": 12.439,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.927,
+          "value": 3.975,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1736,11 +2019,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 164.25,
+          "value": 132.49,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.639,
+          "value": 1.181,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1783,82 +2066,16 @@
           "value": 1,
           "unit": null
         },
-        "light_response_max_pair_change": {
-          "value": 0.747931,
-          "unit": null
-        },
-        "light_response_min_pair_change": {
-          "value": 0.035483,
-          "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]:                 ^^^^^^^^^^^^^^^^"
+        "light_response_max_pair_change": {
+          "value": 0.747102,
+          "unit": null
         },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        "light_response_min_pair_change": {
+          "value": 0.033673,
+          "unit": null
         }
-      ]
+      },
+      "kit_logs": []
     },
     {
       "test_name": "light_response",
@@ -1866,11 +2083,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 15.154,
+      "duration": 12.17,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.907,
+          "value": 3.759,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1878,11 +2095,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 163.56,
+          "value": 125.3,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.495,
+          "value": 1.242,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1926,11 +2143,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.750872,
+          "value": 0.747611,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.034834,
+          "value": 0.033676,
           "unit": null
         }
       },
@@ -2002,17 +2219,101 @@
         }
       ]
     },
+    {
+      "test_name": "mimic_joint",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 1.191,
+      "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": 14.662,
+      "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": 3.399,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 212.46,
+          "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": 14.156,
+      "duration": 11.488,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 9.847,
+          "value": 7.772,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2020,11 +2321,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 1230.92,
+          "value": 971.55,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.578,
+          "value": 0.527,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2076,11 +2377,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.001823,
+          "value": 0.00158,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.009135,
+          "value": 0.008728,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -2166,11 +2467,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 13.884,
+      "duration": 11.331,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 9.537,
+          "value": 7.694,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2178,11 +2479,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 1192.07,
+          "value": 961.71,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.61,
+          "value": 0.547,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2234,11 +2535,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.001815,
+          "value": 0.001848,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.008811,
+          "value": 0.009559,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -2324,11 +2625,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 9.582,
+      "duration": 8.062,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 3.249,
+          "value": 2.826,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2336,11 +2637,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 162.45,
+          "value": 141.32,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.436,
+          "value": 1.285,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2458,11 +2759,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 10.96,
+      "duration": 7.803,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 3.423,
+          "value": 2.948,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2470,11 +2771,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 171.15,
+          "value": 147.4,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.616,
+          "value": 1.261,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2592,11 +2893,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.979,
+      "duration": 3.038,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.493,
+          "value": 1.16,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2604,7 +2905,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 746.26,
+          "value": 579.88,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2632,7 +2933,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.176574,
+          "value": 0.176561,
           "unit": null
         },
         "presence_passed": {
@@ -2714,11 +3015,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.844,
+      "duration": 3.063,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.492,
+          "value": 1.175,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2726,7 +3027,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 745.78,
+          "value": 587.35,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2754,7 +3055,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.176594,
+          "value": 0.176571,
           "unit": null
         },
         "presence_passed": {
@@ -2836,11 +3137,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.764,
+      "duration": 2.73,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.019,
+          "value": 0.867,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2848,7 +3149,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 254.63,
+          "value": 216.74,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2896,7 +3197,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 183966,
+          "value": 183898,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2982,11 +3283,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.806,
+      "duration": 3.031,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.172,
+          "value": 0.872,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2994,7 +3295,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 292.95,
+          "value": 218.07,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -3042,7 +3343,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 183935,
+          "value": 183982,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -3128,7 +3429,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 48.667,
+      "duration": 38.159,
       "message": "",
       "metrics": {
         "slope_drop_initial_cx": {
@@ -3148,7 +3449,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 12.124,
+          "value": 10.268,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3156,11 +3457,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 233.16,
+          "value": 197.46,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.334,
+          "value": 2.039,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3228,7 +3529,7 @@
       "engine_version": "6.1.0.0",
       "status": "fail",
       "passed": false,
-      "duration": 31.718,
+      "duration": 24.152,
       "message": "Slope drop FAILED: The asset remained too far from the ramp after contact for 24 consecutive frame(s); peak clearance 0.2104m at frame 343. Review collision contact gaps, restitution, and the video for an upward launch.",
       "metrics": {
         "slope_drop_initial_cx": {
@@ -3248,7 +3549,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 5.749,
+          "value": 4.544,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3256,11 +3557,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 261.34,
+          "value": 206.55,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.199,
+          "value": 1.047,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3320,7 +3621,209 @@
           "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": "state_accuracy",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "fail",
+      "passed": false,
+      "duration": 253.864,
+      "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": 97.79,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 475,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 205.87,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 15.536,
+          "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": 42.503230306369765,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.physxui.scripts.extension",
+          "message": "PhysX has reported too many errors, simulation has been stopped."
+        }
+      ]
+    },
+    {
+      "test_name": "velocity_limit",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 28.747,
+      "message": "",
+      "metrics": {
+        "vel_joints_with_limits": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 9.206,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 47,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 195.88,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.873,
+          "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
+        },
+        "vel_joints_passed": {
+          "value": 16,
+          "unit": null
+        },
+        "vel_joints_failed": {
+          "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"
+        }
+      ]
     }
   ]
 }

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

@@ -2,7 +2,7 @@
   "format_version": "1.0",
   "profile": "Package-Candidate",
   "profile_version": "1.0.0",
-  "timestamp": "2026-10-22T18:08:14",
+  "timestamp": "2026-10-23T02:39:01",
   "assets": [
     {
       "asset": "simready_usd/M20S.usd",

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

@@ -2,7 +2,7 @@
   "format_version": "1.0",
   "profile": "Package",
   "profile_version": "1.0.0",
-  "timestamp": "2026-10-22T18:08:14",
+  "timestamp": "2026-10-23T02:39:02",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

M20S/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "6fcc39d390b9f144a6274d5e125d31a4febe3a8502d69a677718688c5dd095d6"
+        "sha256": "4eb4f9960eca4e457d52373eb051e363b7b8754e7e90b5fa8a99cccdec646803"
       }
     },
     {
@@ -26,6 +26,6 @@
     "sha256": "d54d4843c60d73ee415ae190f9538e4ba7426b15eefef29b5466df6587fa03f3"
   },
   "package_hash": {
-    "sha256": "54bd2f28f1466dc3cbfb8d5e9c04745861fe4ebf8faa5e6656975a4c1d6e2376"
+    "sha256": "55f3cc7baa3918860bedd7fdbc2058e8f39b62f3e5144a9edacf40b6484c366d"
   }
 }