Document Lite3 2026.10.27 sensor-frame correction and fresh benchmark results

README.md

@@ -16,7 +16,7 @@ robots at DEEP Robotics.
 Organisation: **DEEP Robotics**  
 Contact: **Percy Peng <pengbo@deeprobotics.cn>**
 
-Prepared USD robot assets for NVIDIA SimReady Central, version `2026.10.22_00`.
+Prepared USD robot assets for NVIDIA SimReady Central: the original eight packages at `2026.10.22_00`, plus the corrected Lite3 at `2026.10.27_00`.
 Each package includes its bill of materials, required profile-validation results,
 runtime benchmark results, and original source license notices.
 
@@ -29,11 +29,11 @@ runtime benchmark results, and original source license notices.
 | M20_Piper | Mobile manipulator | Existing OEM USD |
 | DR02-std | Humanoid | High-resolution OEM URDF |
 | DR02-pro | Humanoid with wrist joints and rubber hands | High-resolution OEM URDF |
-| Lite3 | Quadruped | New 20260821 OEM USD mechanics, local high-resolution visuals, three mounting frames |
+| Lite3 | Quadruped | 20260821 OEM USD mechanics, high-resolution visuals, 20261027 corrected sensor frames |
 
-Lite3 is included following the newly supplied 20260821 source. Its USD mechanics
-match published Isaac Sim 6.2, while its three URDF mounting sites are new. The
-local high-resolution visuals are retained. The supplied USD/MJCF thigh centers
+Lite3 retains the 20260821 OEM mechanics and local high-resolution visuals,
+with the 20261027 correction to the D435i/MID360 mounting orientations and explicit
+optical/camera convention child frames. Mount translations and the IMU pose are unchanged. The supplied USD/MJCF thigh centers
 of mass are preserved; the new URDF still records older values. Lite3, M20 and
 X30 mounting frames preserve source positions and rotations and do not implement
 camera or lidar simulation.
@@ -100,6 +100,14 @@ submission license.
 
 [Open pull request](https://github.com/NVIDIA-Omniverse/simready-central/pull/77) — awaiting review; not approved or merged.
 
+## Lite3 sensor correction — 2026-10-27
+
+The current Lite3 package is `simready.hf.deeproboticslab.simready-assets.Lite3.2026.10.27_00`. D435i mount pitch changes from −20° to +20°; MID360 changes from −15° to +15°. Positions and the IMU pose remain unchanged. ROS optical and USD camera convention frames are included as plain Xforms; this USD contains no active camera or lidar simulation.
+
+Geometry, collisions, masses, inertias, joint limits, drive parameters, and the earlier valid knee defaults remain unchanged across all eight variant combinations. The matching [OEM repository correction](https://github.com/DeepRoboticsLab/deep_robotics_model/commit/52352f5bbf2a30b5d02ece91900415188e7abc74) passed URDF parsing, USD variants, cross-format directions, and 1,000 finite MuJoCo steps. The new SimReady package passed mandatory Robot-Body 3.0.0 validation and the PhysX ground-drop test; its full rerun recorded 4 fail, 6 missing, 21 pass, 5 skipped. Read the [immutable benchmark sidecar](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/f2eb1409e132797a927726a9ab614eff9b9a9830/Lite3/.metadata/Lite3_benchmark.json) for exact results and messages. Existing runtime limitations are not cleared by a sensor-frame correction.
+
+The original [Lite3 2026.10.22_00 package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/dd0632359c32de85e88d09334149ece21e228660/Lite3/com.nvidia.simready.packaging.json) and all seven other robot packages remain available at their original immutable URLs. [PR #77](https://github.com/NVIDIA-Omniverse/simready-central/pull/77) now lists nine package versions for eight robot models and remains subject to NVIDIA review.
+
 ## Current package results
 
 Required authoring validation and runtime verdicts are separate. Skipped and unrecorded checks are not passes.
@@ -113,6 +121,6 @@ Required authoring validation and runtime verdicts are separate. Skipped and unr
 | M20_Piper | Pass | 2 fail, 15 missing, 19 pass, 2 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/9751cab19e5692a75aee9a25f440ba93994cdb79/M20_Piper/com.nvidia.simready.packaging.json) |
 | DR02-std | Pass | 1 fail, 6 missing, 17 pass, 12 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/1c5c001c946cc6179944c98e5e41d9edd51ea3e4/DR02-std/com.nvidia.simready.packaging.json) |
 | DR02-pro | Pass | 1 fail, 8 missing, 16 pass, 11 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/ebd156e765d5979ff2d8f280c905aa5c7dcb8e10/DR02-pro/com.nvidia.simready.packaging.json) |
-| Lite3 | Pass | 5 fail, 4 missing, 21 pass, 6 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/dd0632359c32de85e88d09334149ece21e228660/Lite3/com.nvidia.simready.packaging.json) |
+| Lite3 | Pass | 4 fail, 6 missing, 21 pass, 5 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/f2eb1409e132797a927726a9ab614eff9b9a9830/Lite3/com.nvidia.simready.packaging.json) |
 
 Exact failure messages, engine names and warnings remain in each immutable package's `.metadata/<asset>_benchmark.json`. The linked PR preserves official runtime findings; package availability does not imply every benchmark passed.