Add SimReady package: M20_Piper

M20_Piper/.metadata/M20_Piper_benchmark.json

@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0",
   "asset": "M20_Piper",
-  "run_timestamp": "2026-10-22T18:41:25Z",
+  "run_timestamp": "2026-10-23T04:25:43Z",
   "passed": false,
   "results": [
     {
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 8.762,
+      "duration": 6.526,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
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+          "value": 2.029,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 157.47,
+          "value": 126.8,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.634,
+          "value": 1.114,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -42,11 +42,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.001252,
+          "value": 0.001393,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 0.000201,
+          "value": 0.000204,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -132,11 +132,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 8.118,
+      "duration": 6.069,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.494,
+          "value": 1.988,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -144,11 +144,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 155.9,
+          "value": 124.22,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.607,
+          "value": 1.123,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -164,11 +164,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.001207,
+          "value": 0.000841,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 0.000215,
+          "value": 0.000149,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -254,7 +254,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 13.548,
+      "duration": 10.576,
       "message": "",
       "metrics": {
         "display_color_asset_root": {
@@ -282,7 +282,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 0.917,
+          "value": 0.762,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -290,11 +290,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 183.41,
+          "value": 152.38,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.616,
+          "value": 0.448,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -310,11 +310,11 @@
           "unit": null
         },
         "display_color_silhouette_pixels": {
-          "value": 156398,
+          "value": 156383,
           "unit": null
         },
         "display_color_whole_frame_delta_pixels": {
-          "value": 157589,
+          "value": 157594,
           "unit": null
         },
         "display_color_read_mean_rgb": {
@@ -326,7 +326,7 @@
           "unit": null
         },
         "display_color_control_ratio": {
-          "value": 0.001138,
+          "value": 0.000998,
           "unit": null
         },
         "display_color_response_ratio": {
@@ -334,11 +334,77 @@
           "unit": null
         },
         "display_color_opacity_ratio": {
-          "value": 0.999271,
+          "value": 0.999399,
           "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": "display_color_response",
@@ -346,7 +412,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 117.371,
+      "duration": 10.245,
       "message": "",
       "metrics": {
         "display_color_asset_root": {
@@ -374,7 +440,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 0.883,
+          "value": 0.75,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -382,11 +448,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 176.61,
+          "value": 150.08,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.616,
+          "value": 0.441,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -402,11 +468,11 @@
           "unit": null
         },
         "display_color_silhouette_pixels": {
-          "value": 156394,
+          "value": 156371,
           "unit": null
         },
         "display_color_whole_frame_delta_pixels": {
-          "value": 157575,
+          "value": 157576,
           "unit": null
         },
         "display_color_read_mean_rgb": {
@@ -418,11 +484,11 @@
           "unit": null
         },
         "display_color_control_ratio": {
-          "value": 0.001055,
+          "value": 0.000966,
           "unit": null
         },
         "display_color_response_ratio": {
-          "value": 0.999994,
+          "value": 1.0,
           "unit": null
         },
         "display_color_opacity_ratio": {
@@ -504,8 +570,8 @@
       "engine_version": "",
       "status": "fail",
       "passed": false,
-      "duration": 587.908,
-      "message": "Engine session kit_1305003_4 crashed before the test could complete (retries exhausted).",
+      "duration": 589.236,
+      "message": "Engine session kit_2376233_4 crashed before the test could complete (retries exhausted).",
       "metrics": {},
       "kit_logs": []
     },
@@ -515,7 +581,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 52.658,
+      "duration": 37.231,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -531,7 +597,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 9.896,
+          "value": 8.073,
           "unit": null
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         "_timing_capture_frame_count": {
@@ -539,11 +605,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 206.17,
+          "value": 168.18,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.308,
+          "value": 1.836,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -641,8 +707,8 @@
       "engine_version": "",
       "status": "fail",
       "passed": false,
-      "duration": 27.981,
-      "message": "Engine session kit_1305003_7 crashed before the test could complete (retries exhausted).",
+      "duration": 39.674,
+      "message": "Engine session kit_2376233_8 crashed before the test could complete (retries exhausted).",
       "metrics": {},
       "kit_logs": []
     },
@@ -652,7 +718,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 84.751,
+      "duration": 62.523,
       "message": "",
       "metrics": {
         "ground_drop_initial_z_min": {
@@ -668,7 +734,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 19.098,
+          "value": 16.124,
           "unit": null
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         "_timing_capture_frame_count": {
@@ -676,11 +742,11 @@
           "unit": null
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         "_timing_capture_frame_avg_ms": {
-          "value": 241.75,
+          "value": 204.1,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 3.295,
+          "value": 2.742,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -728,7 +794,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 177.464,
+      "duration": 98.274,
       "message": "",
       "metrics": {
         "ground_drop_initial_z_min": {
@@ -744,19 +810,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 34.009,
+          "value": 20.873,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 136,
+          "value": 102,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 250.07,
+          "value": 204.64,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 5.639,
+          "value": 3.448,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -792,7 +858,7 @@
           "unit": null
         },
         "ground_drop_rest_time": {
-          "value": 8.662,
+          "value": 6.242,
           "unit": null
         }
       },
@@ -870,11 +936,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 108.797,
+      "duration": 78.199,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 13.555,
+          "value": 11.087,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -882,11 +948,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 301.23,
+          "value": 246.38,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.189,
+          "value": 1.663,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1394,73 +1460,7 @@
           "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": "joint_movement",
@@ -1468,11 +1468,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 63.86,
+      "duration": 46.937,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 11.901,
+          "value": 9.32,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1480,11 +1480,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 264.46,
+          "value": 207.12,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.295,
+          "value": 1.805,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1772,7 +1772,7 @@
           "unit": null
         },
         "jm_joint_joint2_rot_deg": {
-          "value": 127.753,
+          "value": 127.752,
           "unit": null
         },
         "jm_joint_joint2_trans_pct": {
@@ -1856,7 +1856,7 @@
           "unit": null
         },
         "jm_joint_joint7_trans_pct": {
-          "value": 785.05,
+          "value": 785.04,
           "unit": null
         },
         "jm_joint_joint7_bbox_m": {
@@ -2066,11 +2066,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 15.539,
+      "duration": 12.275,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.956,
+          "value": 4.038,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2078,11 +2078,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 165.21,
+          "value": 134.61,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.625,
+          "value": 1.207,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2126,81 +2126,15 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.752233,
+          "value": 0.749084,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.029183,
+          "value": 0.029256,
           "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": "light_response",
@@ -2208,11 +2142,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 16.135,
+      "duration": 11.938,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.917,
+          "value": 3.925,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2220,11 +2154,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 163.91,
+          "value": 130.83,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.511,
+          "value": 1.259,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2268,11 +2202,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.750695,
+          "value": 0.749542,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.028424,
+          "value": 0.029143,
           "unit": null
         }
       },
@@ -2350,11 +2284,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.599,
+      "duration": 3.856,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.171,
+          "value": 0.986,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2362,11 +2296,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 146.34,
+          "value": 123.21,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.629,
+          "value": 0.518,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2382,11 +2316,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.000503,
+          "value": 0.000555,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.001473,
+          "value": 0.001453,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -2472,11 +2406,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.461,
+      "duration": 3.543,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.132,
+          "value": 0.942,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2484,11 +2418,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 141.46,
+          "value": 117.81,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.658,
+          "value": 0.543,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2504,11 +2438,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.000476,
+          "value": 0.000483,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.00146,
+          "value": 0.001512,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -2520,7 +2454,73 @@
           "unit": null
         }
       },
-      "kit_logs": []
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
     },
     {
       "test_name": "pivot",
@@ -2528,11 +2528,11 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 10.006,
+      "duration": 7.449,
       "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 62.9% from base (should be <10%).\nX-axis tilt causes ground penetration (min_z=-0.642).\n\nHow to fix:\n- Move the asset pivot to the bottom-center of the bounding box.\n- The pivot should be at Z=0 (ground level) and centered in XY.\n- In your DCC tool, set the pivot/origin to the base of the object.\n- Check the X-tilt and Z-spin videos for visual reference.\n\nWhen this can be ignored: this check validates ground-placeable\nprops. If your object is a rotating/hinged type (e.g., door, robot\njoint), the pivot should be at the rotation center -- not the base;\nthose are validated under FET021/FET022. Attached objects (cameras,\nwheels) should have their pivot at the attachment point.\n\nINTERIM: pivot/origin (VG.025) is treated as advisory and does not\nfail the feature, pending spec clarification on whether VG.025 is a\nmandatory or optional requirement (refer to docs/spec-clarifications-needed.md).",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 3.327,
+          "value": 2.704,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2540,11 +2540,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 166.33,
+          "value": 135.19,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.437,
+          "value": 1.298,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2662,11 +2662,11 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 10.529,
+      "duration": 7.319,
       "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 62.9% from base (should be <10%).\nX-axis tilt causes ground penetration (min_z=-0.642).\n\nHow to fix:\n- Move the asset pivot to the bottom-center of the bounding box.\n- The pivot should be at Z=0 (ground level) and centered in XY.\n- In your DCC tool, set the pivot/origin to the base of the object.\n- Check the X-tilt and Z-spin videos for visual reference.\n\nWhen this can be ignored: this check validates ground-placeable\nprops. If your object is a rotating/hinged type (e.g., door, robot\njoint), the pivot should be at the rotation center -- not the base;\nthose are validated under FET021/FET022. Attached objects (cameras,\nwheels) should have their pivot at the attachment point.\n\nINTERIM: pivot/origin (VG.025) is treated as advisory and does not\nfail the feature, pending spec clarification on whether VG.025 is a\nmandatory or optional requirement (refer to docs/spec-clarifications-needed.md).",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 3.333,
+          "value": 2.606,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2674,11 +2674,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 166.65,
+          "value": 130.32,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.553,
+          "value": 1.223,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2796,11 +2796,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.7,
+      "duration": 1.202,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.357,
+          "value": 0.208,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2808,7 +2808,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 178.3,
+          "value": 104.09,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2828,7 +2828,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.149508,
+          "value": 0.149563,
           "unit": null
         },
         "presence_passed": {
@@ -2910,11 +2910,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.619,
+      "duration": 1.298,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.268,
+          "value": 0.232,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2922,7 +2922,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 133.77,
+          "value": 115.97,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2942,7 +2942,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.149556,
+          "value": 0.149534,
           "unit": null
         },
         "presence_passed": {
@@ -3024,11 +3024,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.802,
+      "duration": 3.012,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.181,
+          "value": 0.946,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3036,7 +3036,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 295.17,
+          "value": 236.39,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -3084,7 +3084,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 154869,
+          "value": 154834,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -3170,11 +3170,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.634,
+      "duration": 2.936,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.055,
+          "value": 0.893,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3182,7 +3182,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 263.7,
+          "value": 223.2,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -3230,7 +3230,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 154873,
+          "value": 154875,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -3316,7 +3316,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 53.565,
+      "duration": 40.167,
       "message": "",
       "metrics": {
         "slope_drop_initial_cx": {
@@ -3336,7 +3336,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 12.792,
+          "value": 10.383,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3344,11 +3344,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 236.88,
+          "value": 192.27,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.441,
+          "value": 1.942,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3408,82 +3408,16 @@
           "unit": null
         }
       },
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: Traceback (most recent call last):"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
-        }
-      ]
+      "kit_logs": []
     },
     {
       "test_name": "slope_drop",
       "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
-      "status": "fail",
-      "passed": false,
-      "duration": 58.23,
-      "message": "Slope drop FAILED: The asset remained too far from the ramp after contact for 24 consecutive frame(s); peak clearance 0.1790m at frame 671. Review collision contact gaps, restitution, and the video for an upward launch.",
+      "status": "pass",
+      "passed": true,
+      "duration": 53.486,
+      "message": "",
       "metrics": {
         "slope_drop_initial_cx": {
           "value": 0.0,
@@ -3502,19 +3436,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 10.283,
+          "value": 10.678,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 42,
+          "value": 54,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 244.82,
+          "value": 197.74,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.223,
+          "value": 2.028,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3546,7 +3480,7 @@
           "unit": null
         },
         "slope_drop_excessive_separation": {
-          "value": 1,
+          "value": 0,
           "unit": null
         },
         "slope_drop_uphill_motion": {
@@ -3554,19 +3488,19 @@
           "unit": null
         },
         "slope_drop_passed": {
-          "value": 0,
+          "value": 1,
           "unit": null
         },
         "slope_drop_max_clearance": {
-          "value": 0.179,
+          "value": 0.0348,
           "unit": "m"
         },
         "slope_drop_separation_frames": {
-          "value": 24,
+          "value": 0,
           "unit": null
         },
-        "slope_drop_separation_frame": {
-          "value": 671,
+        "slope_drop_left_slope_frame": {
+          "value": 706,
           "unit": null
         },
         "slope_drop_horiz_time": {
@@ -3574,7 +3508,73 @@
           "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'"
+        }
+      ]
     }
   ]
 }

M20_Piper/.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": "2026-10-22T18:41:27",
+  "timestamp": "2026-10-23T04:25:45",
   "assets": [
     {
       "asset": "simready_usd/M20_Piper.usd",

M20_Piper/.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": "2026-10-22T18:41:27",
+  "timestamp": "2026-10-23T04:25:45",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

M20_Piper/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "370fba4966c9267ae4af0d012a2edf548d26e10e65eab15d50882d637f87d36f"
+        "sha256": "c7cb4de8a672a7d9d8bc253b335897efe3e80703a534a82985d1ca0d291bd554"
       }
     },
     {
@@ -26,6 +26,6 @@
     "sha256": "868f01a1ae9bc095fa7a737ee0843f7a8d4ad754c63d8d1427c5b669d54c6b12"
   },
   "package_hash": {
-    "sha256": "2847c93fd097791a24d4f3fc6fe387e9b4a0a012c8b8c39693ffcaf75852ac5d"
+    "sha256": "70f672c633506010f6c0d511e3dffb76fbdf8b33a8908eaff22ffc6511f4e59d"
   }
 }