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": "2026-10-22T14:18:58Z",
+  "run_timestamp": "2026-10-22T18:01:32Z",
   "passed": false,
   "results": [
     {
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 7.197,
+      "duration": 8.54,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.084,
+          "value": 2.53,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 130.26,
+          "value": 158.15,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.725,
+          "value": 1.467,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -42,11 +42,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.000963,
+          "value": 0.001213,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 0.00022,
+          "value": 0.000186,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -132,11 +132,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 9.016,
+      "duration": 7.848,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.123,
+          "value": 2.522,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -144,11 +144,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 132.68,
+          "value": 157.62,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.194,
+          "value": 1.533,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -164,11 +164,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.001001,
+          "value": 0.001111,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 0.000188,
+          "value": 0.000182,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -254,7 +254,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 272.9,
+      "duration": 12.413,
       "message": "",
       "metrics": {
         "display_color_asset_root": {
@@ -282,7 +282,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 0.958,
+          "value": 0.769,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -290,11 +290,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 191.63,
+          "value": 153.7,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.972,
+          "value": 0.473,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -310,31 +310,31 @@
           "unit": null
         },
         "display_color_silhouette_pixels": {
-          "value": 156369,
+          "value": 156375,
           "unit": null
         },
         "display_color_whole_frame_delta_pixels": {
-          "value": 157587,
+          "value": 157595,
           "unit": null
         },
         "display_color_read_mean_rgb": {
           "value": [
-            0.1282,
             0.1283,
-            0.1286
+            0.1284,
+            0.1287
           ],
           "unit": null
         },
         "display_color_control_ratio": {
-          "value": 0.000978,
+          "value": 0.000953,
           "unit": null
         },
         "display_color_response_ratio": {
-          "value": 1.0,
+          "value": 0.999987,
           "unit": null
         },
         "display_color_opacity_ratio": {
-          "value": 0.999265,
+          "value": 0.999412,
           "unit": null
         }
       },
@@ -410,21 +410,159 @@
       "test_name": "display_color_response",
       "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
-      "status": "fail",
-      "passed": false,
-      "duration": 0.006,
-      "message": "Kit's render-context list reads [universal] and does not contain mtlx, so the OpenPBR probe material DISP.001 nominates resolves to no surface at all and the geometry would render on a fallback material this test says nothing about.\n\nHow to fix:\n- Restore ./persistent/app/hydra/material/renderContexts to its shipped value [mdl, mtlx, \"\"]. Kit persists that key to user.config.json on shutdown, so a value narrowed by an earlier run survives into this one.",
+      "status": "pass",
+      "passed": true,
+      "duration": 12.022,
+      "message": "",
       "metrics": {
         "display_color_asset_root": {
           "value": "/World/AssetRoot/Asset",
           "unit": null
         },
         "display_color_render_context_order": {
-          "value": "universal",
+          "value": "mdl, mtlx, universal",
+          "unit": null
+        },
+        "display_color_renderable_gprims": {
+          "value": 27,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 27,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 27,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 0.863,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 172.57,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.597,
+          "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
+        },
+        "display_color_silhouette_pixels": {
+          "value": 156381,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 157594,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.1283,
+            0.1284,
+            0.1287
+          ],
+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 0.000966,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 0.999994,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "value": 0.999361,
           "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": "drive_gain_validation",
@@ -432,19 +570,167 @@
       "engine_version": "",
       "status": "fail",
       "passed": false,
-      "duration": 850.2860000000001,
-      "message": "Engine session kit_785825_9 crashed before the test could complete (retries exhausted). Cause: Test exceeded its declared max_duration of 300 seconds; the engine session was terminated (retries exhausted).",
+      "duration": 733.328,
+      "message": "Engine session kit_1219183_10 crashed before the test could complete (retries exhausted).",
       "metrics": {},
       "kit_logs": []
     },
+    {
+      "test_name": "drive_gain_validation",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 46.938,
+      "message": "",
+      "metrics": {
+        "dgv_joints_tested": {
+          "value": 24,
+          "unit": null
+        },
+        "dgv_passive_joints_skipped": {
+          "value": 0,
+          "unit": null
+        },
+        "dgv_mimic_follower_joints_skipped": {
+          "value": 0,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 9.103,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 48,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 189.64,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.145,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "dgv_joints_passed": {
+          "value": 0,
+          "unit": null
+        },
+        "dgv_joints_failed": {
+          "value": 24,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
     {
       "test_name": "effort_limit",
       "engine": "isaac_sim",
       "engine_version": "",
       "status": "fail",
       "passed": false,
-      "duration": 30.847,
-      "message": "Engine session kit_785825_7 crashed before the test could complete (retries exhausted).",
+      "duration": 50.716,
+      "message": "Engine session kit_1219183_15 crashed before the test could complete (retries exhausted).",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "effort_limit",
+      "engine": "isaac_sim_newton",
+      "engine_version": "",
+      "status": "fail",
+      "passed": false,
+      "duration": 689.366,
+      "message": "Engine session kit_1219183_11 crashed before the test could complete (retries exhausted). Cause: Newton generated 201 contacts but MJWarp allocated 200. Adaptive recovery could not be scheduled (adaptive retry unavailable or exhausted); this is a blocking runtime error, not an asset verdict.",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "full_range_sweep",
+      "engine": "isaac_sim_newton",
+      "engine_version": "",
+      "status": "fail",
+      "passed": false,
+      "duration": 175.43,
+      "message": "Engine session kit_1219183_17 crashed before the test could complete (retries exhausted). Cause: Newton generated 313 contacts but MJWarp allocated 200. Adaptive recovery could not be scheduled (adaptive retry unavailable or exhausted); this is a blocking runtime error, not an asset verdict.",
       "metrics": {},
       "kit_logs": []
     },
@@ -454,7 +740,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 67.605,
+      "duration": 85.09,
       "message": "",
       "metrics": {
         "ground_drop_initial_z_min": {
@@ -470,7 +756,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 16.437,
+          "value": 19.089,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -478,11 +764,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 208.07,
+          "value": 241.63,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.914,
+          "value": 3.313,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -524,28 +810,147 @@
       },
       "kit_logs": []
     },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim_newton",
+      "engine_version": "",
+      "status": "fail",
+      "passed": false,
+      "duration": 69.678,
+      "message": "Engine session kit_1219183_3 crashed before the test could complete (retries exhausted). Cause: Newton generated 214 contacts but MJWarp allocated 200. Adaptive recovery could not be scheduled (adaptive retry unavailable or exhausted); this is a blocking runtime error, not an asset verdict.",
+      "metrics": {},
+      "kit_logs": []
+    },
     {
       "test_name": "ik_target_reach",
-      "engine": "isaac_sim",
+      "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 1.174,
+      "duration": 7.104,
       "message": "IK Target Reach phase cannot run: no Lula kinematics descriptor matched this asset.\n\n  Found:    asset_path='<home>/nvidia-submission/simready-tools/assets/M20_Piper/simready_usd/M20_Piper.usd'\n            isaac:robotType='ARM'\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_newton",
+      "engine_version": "6.1.0.0",
+      "status": "fail",
+      "passed": false,
+      "duration": 107.692,
+      "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/link8.\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/link8) 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": 0.671,
+          "unit": null
+        },
+        "jik_target_radius": {
+          "value": 0.6039,
+          "unit": null
+        },
+        "jik_base_position_x": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jik_base_position_y": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jik_base_position_z": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jik_max_observed_reach": {
+          "value": 0.684,
+          "unit": null
+        },
+        "jik_distinct_reachable_targets": {
+          "value": 5,
+          "unit": null
+        },
+        "jik_bbox_baseline_volume": {
+          "value": 0.034257,
+          "unit": null
+        },
+        "jik_total_iterations": {
+          "value": 0,
+          "unit": null
+        },
+        "jik_targets_generated": {
+          "value": 7,
+          "unit": null
+        },
+        "jik_targets_reached": {
+          "value": 0,
+          "unit": null
+        },
+        "jik_targets_total_passed": {
+          "value": 2,
+          "unit": null
+        },
+        "jik_targets_in_reach": {
+          "value": 5,
+          "unit": null
+        },
+        "jik_targets_out_of_reach": {
+          "value": 2,
+          "unit": null
+        },
+        "jik_in_reach_failed": {
+          "value": 5,
+          "unit": null
+        },
+        "jik_in_reach_passed_green": {
+          "value": 0,
+          "unit": null
+        },
+        "jik_in_reach_solver_failed_red": {
+          "value": 5,
+          "unit": null
+        },
+        "jik_in_reach_motion_failed_orange": {
+          "value": 0,
+          "unit": null
+        },
+        "jik_out_of_reach_correctly_failed_magenta": {
+          "value": 2,
+          "unit": null
+        },
+        "jik_out_of_reach_false_positive_yellow": {
+          "value": 0,
+          "unit": null
+        },
+        "jik_max_position_error_m": {
+          "value": Infinity,
+          "unit": null
+        },
+        "jik_max_orientation_error_deg": {
+          "value": Infinity,
+          "unit": null
+        },
+        "jik_pass_rate": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jik_ee_link": {
+          "value": "/World/AssetRoot/Asset/link8",
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
     {
       "test_name": "joint_movement",
       "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 84.489,
+      "duration": 103.503,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 11.237,
+          "value": 12.966,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -553,11 +958,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 249.7,
+          "value": 288.13,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.791,
+          "value": 2.099,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1067,17 +1472,28 @@
       },
       "kit_logs": []
     },
+    {
+      "test_name": "joint_movement",
+      "engine": "isaac_sim_newton",
+      "engine_version": "",
+      "status": "fail",
+      "passed": false,
+      "duration": 32.087,
+      "message": "Engine session kit_1219183_7 crashed before the test could complete (retries exhausted). Cause: Newton generated 202 contacts but MJWarp allocated 200. Adaptive recovery could not be scheduled (adaptive retry unavailable or exhausted); this is a blocking runtime error, not an asset verdict.",
+      "metrics": {},
+      "kit_logs": []
+    },
     {
       "test_name": "light_response",
       "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 12.424,
+      "duration": 15.888,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.016,
+          "value": 4.799,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1085,11 +1501,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 133.86,
+          "value": 159.96,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.313,
+          "value": 1.724,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1133,15 +1549,81 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.750242,
+          "value": 0.751906,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.02929,
+          "value": 0.029026,
           "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": "light_response",
@@ -1149,11 +1631,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 13.272,
+      "duration": 14.922,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.131,
+          "value": 4.771,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1161,11 +1643,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 137.7,
+          "value": 159.04,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.282,
+          "value": 1.408,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1209,11 +1691,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.748068,
+          "value": 0.749053,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.028844,
+          "value": 0.028906,
           "unit": null
         }
       },
@@ -1285,17 +1767,33 @@
         }
       ]
     },
+    {
+      "test_name": "mimic_joint",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 3.563,
+      "message": "MIM: no NewtonMimicAPI found on any joint under the asset prim.\n\nThis test is not applicable when the mechanism has no coupled joints. For a Newton follower joint, apply NewtonMimicAPI, set newton:mimicJoint to the reference joint, and author finite newton:mimicCoef0/newton:mimicCoef1 values. The test is skipped, not failed, for an uncoupled articulation.",
+      "metrics": {
+        "mim_mimic_pairs_detected": {
+          "value": 0,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
     {
       "test_name": "normals_xz",
       "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.194,
+      "duration": 4.641,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.0,
+          "value": 1.158,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1303,11 +1801,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 124.98,
+          "value": 144.8,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.58,
+          "value": 0.675,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1323,11 +1821,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.000535,
+          "value": 0.000549,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.001499,
+          "value": 0.001512,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -1413,11 +1911,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.789,
+      "duration": 4.714,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.974,
+          "value": 1.231,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1425,11 +1923,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 121.71,
+          "value": 153.93,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.527,
+          "value": 0.631,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1445,11 +1943,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.000562,
+          "value": 0.00053,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.001479,
+          "value": 0.001564,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -1535,11 +2033,11 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 8.259,
+      "duration": 10.263,
       "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": 2.813,
+          "value": 3.208,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1547,11 +2045,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 140.67,
+          "value": 160.41,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.294,
+          "value": 1.599,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1669,11 +2167,11 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 8.285,
+      "duration": 10.343,
       "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": 2.822,
+          "value": 3.25,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1681,11 +2179,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 141.11,
+          "value": 162.52,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.31,
+          "value": 1.503,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1803,11 +2301,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.322,
+      "duration": 1.528,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.227,
+          "value": 0.27,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1815,7 +2313,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 113.59,
+          "value": 135.08,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -1835,7 +2333,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.149533,
+          "value": 0.149541,
           "unit": null
         },
         "presence_passed": {
@@ -1917,11 +2415,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.324,
+      "duration": 1.529,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.229,
+          "value": 0.249,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1929,7 +2427,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 114.34,
+          "value": 124.47,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2031,11 +2529,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.305,
+      "duration": 3.381,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.936,
+          "value": 0.985,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2043,7 +2541,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 234.06,
+          "value": 246.36,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2091,7 +2589,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 154814,
+          "value": 154818,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2177,11 +2675,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.068,
+      "duration": 4.534,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.961,
+          "value": 1.219,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2189,7 +2687,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 240.2,
+          "value": 304.77,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2237,7 +2735,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 154755,
+          "value": 155055,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2323,7 +2821,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 43.545,
+      "duration": 53.67,
       "message": "",
       "metrics": {
         "slope_drop_initial_cx": {
@@ -2343,7 +2841,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 10.637,
+          "value": 12.47,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2351,11 +2849,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 196.97,
+          "value": 230.92,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.318,
+          "value": 2.727,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2482,6 +2980,17 @@
           "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
         }
       ]
+    },
+    {
+      "test_name": "slope_drop",
+      "engine": "isaac_sim_newton",
+      "engine_version": "",
+      "status": "fail",
+      "passed": false,
+      "duration": 50.011,
+      "message": "Engine session kit_1219183_5 crashed before the test could complete (retries exhausted). Cause: Newton generated 206 contacts but MJWarp allocated 200. Adaptive recovery could not be scheduled (adaptive retry unavailable or exhausted); this is a blocking runtime error, not an asset verdict.",
+      "metrics": {},
+      "kit_logs": []
     }
   ]
 }

M20_Piper/.metadata/M20_Piper_validation.json

@@ -52,8 +52,7 @@
             "FET_003_NEWTON": {
                 "blocking_failure": false,
                 "dependencies": "[]",
-                "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
-                "passed": false,
+                "passed": true,
                 "version": "0.1.0"
             },
             "FET_003_PHYSX": {
@@ -78,8 +77,7 @@
             "FET_004_NEWTON": {
                 "blocking_failure": false,
                 "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
-                "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
-                "passed": false,
+                "passed": true,
                 "version": "0.1.0"
             },
             "FET_004_PHYSX": {
@@ -98,8 +96,7 @@
             "FET_004_ROBOT_NEWTON": {
                 "blocking_failure": false,
                 "dependencies": "[]",
-                "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
-                "passed": false,
+                "passed": true,
                 "version": "0.1.0"
             },
             "FET_004_STANDARD": {
@@ -156,8 +153,7 @@
             "FET_022_NEWTON": {
                 "blocking_failure": false,
                 "dependencies": "[{'FET_004_ROBOT_NEWTON': {'version': '0.1.0'}}]",
-                "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
-                "passed": false,
+                "passed": true,
                 "version": "0.1.0"
             },
             "FET_022_PHYSX": {
@@ -187,8 +183,7 @@
             "FET_024_NEWTON": {
                 "blocking_failure": false,
                 "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
-                "optional requirements": "['com.nvidia.simready.NEWTON.BA.001']",
-                "passed": false,
+                "passed": true,
                 "version": "0.1.0"
             },
             "FET_024_PHYSX": {

M20_Piper/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package-Candidate",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-22T18:01:35",
+  "assets": [
+    {
+      "asset": "simready_usd/M20_Piper.usd",
+      "features": [
+        {
+          "FET_031_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_033_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_031_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

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": "2026-10-22T14:19:00",
+  "timestamp": "2026-10-22T18:01:35",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

M20_Piper/.metadata/com.nvidia.simready.packaging.bom.json

@@ -27,11 +27,11 @@
     },
     {
       "relative_path": "simready_usd/M20_Piper.usd",
-      "size": 30289040,
+      "size": 30290477,
       "hash": {
-        "sha256-flat-1mb": "ea946f9d4351abc97a0e57ea733bdd714c0e82ba33377d82b871f43ae15a0afa",
-        "sha256": "2fb0c19f925c9564812d2f1e891fddefa3b3944be9d205b71ae388c7641469ab",
-        "sha256-first1m": "b52c07f0c3b54321ed4c63a2bdc386314707f55718f7db65ff1ae66deee0fb24"
+        "sha256-flat-1mb": "1fa6bc8fd07655ad091bb06c08f733744c2fae4f0c8f9a7cdace56808e949bc6",
+        "sha256": "4675faa1051371c5b1baefecf9361980e4ec56fb3069fddc541743ec8c431106",
+        "sha256-first1m": "18b8c15fa04a17a2f538d9aa052ccf16471b1d439b9f9ddbeb6d027b1ccab3c5"
       }
     },
     {

M20_Piper/.metadata/com.nvidia.simready.root_usds.json

@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/M20_Piper.usd"
+  ]
+}

M20_Piper/com.nvidia.simready.packaging.json

@@ -6,13 +6,13 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "b27548d8f0e2b838f093efff259a19080431ec2ce986bb152c4b4727559fec5e"
+        "sha256": "0d4294fd73871fd9f35d92b924aaac50037bdaee15b731fcbb49b6baad868acf"
       }
     },
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "3150cf9b0823209de643a88ede672dfa250fead249a5fe3ca2d00748b001ad66"
+        "sha256": "e620f35d16308da24692e0ada34d3cfb9a4a150951f292c01ada0e52fab46a92"
       }
     },
     {
@@ -23,9 +23,9 @@
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   ],
   "content_hash": {
-    "sha256": "9ed2a37925ff1c1cd6f343c232e5f0c1a490ab3218635a10671672a741393ad4"
+    "sha256": "868f01a1ae9bc095fa7a737ee0843f7a8d4ad754c63d8d1427c5b669d54c6b12"
   },
   "package_hash": {
-    "sha256": "e0495cd84c89aed717fc9dc598a267a844aeb69711bc805a858819eae860de07"
+    "sha256": "88aa36065991f8a4cccdca66e49da1bfaeced238a880354a1c9d7a1580769f27"
   }
 }

M20_Piper/simready_usd/M20_Piper.usd

@@ -1,3 +1,3 @@
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-size 30289040
+oid sha256:4675faa1051371c5b1baefecf9361980e4ec56fb3069fddc541743ec8c431106
+size 30290477