Add SimReady package: franka_hand

franka_hand/.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": "2026-10-12T12:39:57",
+  "timestamp": "2026-10-12T13:39:22",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

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

@@ -19,18 +19,18 @@
     },
     {
       "relative_path": "simready_usd/payloads/Physics/physics.usda",
-      "size": 4733,
+      "size": 4679,
       "hash": {
-        "sha256-flat-1mb": "0a461d01764222d9e0ac706fcdd185be7c16e7a07d7e7451ca324ae072027375",
-        "sha256": "fa6f3e44fb515aca4079cee436aa73dbb266e4b13170e46a72c106e416df9bde"
+        "sha256-flat-1mb": "fd18912cf8b55b65b87658852e3bce70f3b5f03f77635f0e91f0851fc25962a0",
+        "sha256": "6952a8030513d4c6f16fc3fe0457b057459d4416b6a92e018c239958b2b4c181"
       }
     },
     {
       "relative_path": "simready_usd/payloads/Physics/position_physics.usda",
-      "size": 1198,
+      "size": 1272,
       "hash": {
-        "sha256-flat-1mb": "8e00098f65bf6278e5718c6d8e2711d25534b095ffbc1fc2354dfa97a6e46f18",
-        "sha256": "85b76b0e9aa063b08af9eb0a50f3d8097a13bfe8c1fd00ad0593752f7afb065d"
+        "sha256-flat-1mb": "70ce2d2efb123d859dc829213ba9bcb4890c45b1b3df945eb55dc4d29ae6f0de",
+        "sha256": "920b6e405d7ae0c3b534a9d98b7fb7308507014fa0498f7dfff70cff7ad31d13"
       }
     },
     {
@@ -83,10 +83,10 @@
     },
     {
       "relative_path": "simready_usd/runnables/physics/newton.usda",
-      "size": 2929,
+      "size": 2782,
       "hash": {
-        "sha256-flat-1mb": "add10058e78235d224c82c150dc490a77f58a6a23dd4ee260becc2d0108e5636",
-        "sha256": "80f459c122996d6f7a78c540b42bb6770f1537685a1e6f8d14ce6d10dfd96376"
+        "sha256-flat-1mb": "ae72261530e1309f96b9d44e5e343f9c44ca6f22c2447eb79b3875ec945b694c",
+        "sha256": "1841e93d0b7f3f843f8117f3004bed67918c8427e4e4e9d1ba49f882e87c2545"
       }
     },
     {

franka_hand/.metadata/franka_hand_benchmark.json

@@ -1,8 +1,8 @@
 {
   "schema_version": "1.0",
   "asset": "franka_hand",
-  "run_timestamp": "2026-10-12T12:39:56Z",
-  "passed": false,
+  "run_timestamp": "2026-10-12T13:39:21Z",
+  "passed": true,
   "results": [
     {
       "test_name": "culling_xz",
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.678,
+      "duration": 3.373,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.604,
+          "value": 1.2,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 100.28,
+          "value": 75.0,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.982,
+          "value": 0.525,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -42,15 +42,15 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 9e-06,
+          "value": 6.3e-05,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 3e-06,
+          "value": 1.2e-05,
           "unit": null
         },
         "culling_xz_worst_angle": {
-          "value": 45.0,
+          "value": 225.0,
           "unit": null
         },
         "culling_xz_passed": {
@@ -58,7 +58,73 @@
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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": "culling_xz",
@@ -66,11 +132,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.466,
+      "duration": 3.067,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.544,
+          "value": 1.228,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -78,11 +144,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 96.48,
+          "value": 76.76,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.536,
+          "value": 0.531,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -98,15 +164,15 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 7.6e-05,
+          "value": 9e-06,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 1.3e-05,
+          "value": 3e-06,
           "unit": null
         },
         "culling_xz_worst_angle": {
-          "value": 225.0,
+          "value": 45.0,
           "unit": null
         },
         "culling_xz_passed": {
@@ -114,7 +180,73 @@
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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",
@@ -122,7 +254,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 5.361,
+      "duration": 6.141,
       "message": "",
       "metrics": {
         "display_color_asset_root": {
@@ -150,7 +282,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 0.376,
+          "value": 0.462,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -158,11 +290,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 75.11,
+          "value": 92.33,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.185,
+          "value": 0.194,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -178,23 +310,23 @@
           "unit": null
         },
         "display_color_silhouette_pixels": {
-          "value": 120673,
+          "value": 120704,
           "unit": null
         },
         "display_color_whole_frame_delta_pixels": {
-          "value": 120974,
+          "value": 120986,
           "unit": null
         },
         "display_color_read_mean_rgb": {
           "value": [
-            0.1147,
+            0.1146,
             0.1151,
-            0.1146
+            0.1145
           ],
           "unit": null
         },
         "display_color_control_ratio": {
-          "value": 4.1e-05,
+          "value": 7.5e-05,
           "unit": null
         },
         "display_color_response_ratio": {
@@ -202,7 +334,7 @@
           "unit": null
         },
         "display_color_opacity_ratio": {
-          "value": 0.999304,
+          "value": 0.999163,
           "unit": null
         }
       },
@@ -214,7 +346,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 7.029,
+      "duration": 6.612,
       "message": "",
       "metrics": {
         "display_color_asset_root": {
@@ -242,7 +374,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 0.425,
+          "value": 0.461,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -250,11 +382,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 85.02,
+          "value": 92.28,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.2,
+          "value": 0.21,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -270,7 +402,7 @@
           "unit": null
         },
         "display_color_silhouette_pixels": {
-          "value": 120657,
+          "value": 120676,
           "unit": null
         },
         "display_color_whole_frame_delta_pixels": {
@@ -294,11 +426,77 @@
           "unit": null
         },
         "display_color_opacity_ratio": {
-          "value": 0.999403,
+          "value": 0.999271,
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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",
@@ -306,7 +504,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 40.133,
+      "duration": 38.653,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -322,7 +520,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 14.021,
+          "value": 13.682,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -330,11 +528,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 93.47,
+          "value": 91.21,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.391,
+          "value": 2.312,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -350,11 +548,11 @@
           "unit": null
         },
         "dgv_joints_passed": {
-          "value": 2,
+          "value": 1,
           "unit": null
         },
         "dgv_joints_failed": {
-          "value": 0,
+          "value": 1,
           "unit": null
         }
       },
@@ -364,54 +562,37 @@
       "test_name": "drive_gain_validation",
       "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
-      "status": "fail",
-      "passed": false,
-      "duration": 0.27,
-      "message": "Test setup/runtime error (NewtonSceneInitializationError): Newton could not initialize this asset's physics scene (USD composition errors, invalid collision geometry, or a schema Newton rejects). The requested test did not execute; inspect kit_logs for the first Newton initialization error. This is an incomplete/error result, not a not-applicable skip.",
-      "metrics": {},
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "isaacsim.physics.newton.impl.newton_stage",
-          "message": "[Newton] Initialization failed: Cannot merge joint /World/AssetRoot/Asset/Physics/root_joint of type FixedJoint into a D6 joint. Only RevoluteJoint and PrismaticJoint are supported for merging."
-        }
-      ]
-    },
-    {
-      "test_name": "effort_limit",
-      "engine": "isaac_sim",
-      "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 14.944,
+      "duration": 7.526,
       "message": "",
       "metrics": {
-        "eff_joints_with_candidates": {
+        "dgv_joints_tested": {
           "value": 2,
           "unit": null
         },
-        "eff_joints_skipped_passive": {
+        "dgv_passive_joints_skipped": {
           "value": 0,
           "unit": null
         },
-        "eff_joints_skipped_mimic_follower": {
+        "dgv_mimic_follower_joints_skipped": {
           "value": 0,
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 4.684,
+          "value": 1.186,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 48,
+          "value": 12,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 97.59,
+          "value": 98.83,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.927,
+          "value": 0.32,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -426,37 +607,144 @@
           "value": 0,
           "unit": null
         },
-        "eff_joints_tested": {
-          "value": 2,
+        "dgv_joints_passed": {
+          "value": 0,
           "unit": null
         },
-        "eff_joints_passed": {
+        "dgv_joints_failed": {
           "value": 2,
           "unit": null
-        },
-        "eff_joints_failed": {
-          "value": 0,
-          "unit": null
         }
       },
       "kit_logs": []
     },
     {
       "test_name": "effort_limit",
-      "engine": "isaac_sim_newton",
+      "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
-      "status": "fail",
-      "passed": false,
-      "duration": 0.286,
-      "message": "Test setup/runtime error (NewtonSceneInitializationError): Newton could not initialize this asset's physics scene (USD composition errors, invalid collision geometry, or a schema Newton rejects). The requested test did not execute; inspect kit_logs for the first Newton initialization error. This is an incomplete/error result, not a not-applicable skip.",
-      "metrics": {},
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "isaacsim.physics.newton.impl.newton_stage",
-          "message": "[Newton] Initialization failed: Cannot merge joint /World/AssetRoot/Asset/Physics/root_joint of type FixedJoint into a D6 joint. Only RevoluteJoint and PrismaticJoint are supported for merging."
+      "status": "pass",
+      "passed": true,
+      "duration": 14.725,
+      "message": "",
+      "metrics": {
+        "eff_joints_with_candidates": {
+          "value": 2,
+          "unit": null
+        },
+        "eff_joints_skipped_passive": {
+          "value": 0,
+          "unit": null
+        },
+        "eff_joints_skipped_mimic_follower": {
+          "value": 0,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 4.477,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 48,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 93.27,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.92,
+          "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
+        },
+        "eff_joints_tested": {
+          "value": 2,
+          "unit": null
+        },
+        "eff_joints_passed": {
+          "value": 2,
+          "unit": null
+        },
+        "eff_joints_failed": {
+          "value": 0,
+          "unit": null
         }
-      ]
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "effort_limit",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 26.783,
+      "message": "",
+      "metrics": {
+        "eff_joints_with_candidates": {
+          "value": 2,
+          "unit": null
+        },
+        "eff_joints_skipped_passive": {
+          "value": 0,
+          "unit": null
+        },
+        "eff_joints_skipped_mimic_follower": {
+          "value": 0,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 4.555,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 48,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 94.89,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.942,
+          "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
+        },
+        "eff_joints_tested": {
+          "value": 2,
+          "unit": null
+        },
+        "eff_joints_passed": {
+          "value": 2,
+          "unit": null
+        },
+        "eff_joints_failed": {
+          "value": 0,
+          "unit": null
+        }
+      },
+      "kit_logs": []
     },
     {
       "test_name": "full_range_sweep",
@@ -464,7 +752,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 24.718,
+      "duration": 26.25,
       "message": "",
       "metrics": {
         "frs_total_dofs": {
@@ -484,11 +772,11 @@
           "unit": null
         },
         "frs_bbox_baseline_volume": {
-          "value": 0.002008800663530436,
+          "value": 0.002024622447034387,
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 5.705,
+          "value": 5.708,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -496,11 +784,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 95.09,
+          "value": 95.13,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.985,
+          "value": 1.077,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -524,24 +812,141 @@
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
     },
     {
       "test_name": "full_range_sweep",
       "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
-      "status": "fail",
-      "passed": false,
-      "duration": 0.417,
-      "message": "Test setup/runtime error (NewtonSceneInitializationError): Newton could not initialize this asset's physics scene (USD composition errors, invalid collision geometry, or a schema Newton rejects). The requested test did not execute; inspect kit_logs for the first Newton initialization error. This is an incomplete/error result, not a not-applicable skip.",
-      "metrics": {},
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "isaacsim.physics.newton.impl.newton_stage",
-          "message": "[Newton] Initialization failed: Cannot merge joint /World/AssetRoot/Asset/Physics/root_joint of type FixedJoint into a D6 joint. Only RevoluteJoint and PrismaticJoint are supported for merging."
+      "status": "pass",
+      "passed": true,
+      "duration": 50.259,
+      "message": "",
+      "metrics": {
+        "frs_total_dofs": {
+          "value": 2,
+          "unit": null
+        },
+        "frs_joints_tested": {
+          "value": 2,
+          "unit": null
+        },
+        "frs_passive_joints_skipped": {
+          "value": 0,
+          "unit": null
+        },
+        "frs_loop_joints_skipped": {
+          "value": 0,
+          "unit": null
+        },
+        "frs_bbox_baseline_volume": {
+          "value": 0.0017824934661291526,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 5.272,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 60,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 87.86,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.948,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "frs_joints_passed": {
+          "value": 2,
+          "unit": null
+        },
+        "frs_joints_failed": {
+          "value": 0,
+          "unit": null
         }
-      ]
+      },
+      "kit_logs": []
     },
     {
       "test_name": "ground_drop",
@@ -549,7 +954,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.047,
+      "duration": 0.044,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "ground_drop_skipped": {
@@ -565,7 +970,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.047,
+      "duration": 0.043,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "ground_drop_skipped": {
@@ -581,7 +986,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.887,
+      "duration": 0.602,
       "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.",
       "metrics": {},
       "kit_logs": []
@@ -590,18 +995,12 @@
       "test_name": "ik_target_reach",
       "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
-      "status": "fail",
+      "status": "skipped",
       "passed": false,
-      "duration": 0.338,
-      "message": "Test setup/runtime error (NewtonSceneInitializationError): Newton could not initialize this asset's physics scene (USD composition errors, invalid collision geometry, or a schema Newton rejects). The requested test did not execute; inspect kit_logs for the first Newton initialization error. This is an incomplete/error result, not a not-applicable skip.",
+      "duration": 0.578,
+      "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.",
       "metrics": {},
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "isaacsim.physics.newton.impl.newton_stage",
-          "message": "[Newton] Initialization failed: Cannot merge joint /World/AssetRoot/Asset/Physics/root_joint of type FixedJoint into a D6 joint. Only RevoluteJoint and PrismaticJoint are supported for merging."
-        }
-      ]
+      "kit_logs": []
     },
     {
       "test_name": "jacobian_ik",
@@ -609,7 +1008,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.553,
+      "duration": 0.585,
       "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.",
       "metrics": {},
       "kit_logs": []
@@ -618,18 +1017,12 @@
       "test_name": "jacobian_ik",
       "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
-      "status": "fail",
+      "status": "skipped",
       "passed": false,
-      "duration": 0.331,
-      "message": "Test setup/runtime error (NewtonSceneInitializationError): Newton could not initialize this asset's physics scene (USD composition errors, invalid collision geometry, or a schema Newton rejects). The requested test did not execute; inspect kit_logs for the first Newton initialization error. This is an incomplete/error result, not a not-applicable skip.",
+      "duration": 0.729,
+      "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.",
       "metrics": {},
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "isaacsim.physics.newton.impl.newton_stage",
-          "message": "[Newton] Initialization failed: Cannot merge joint /World/AssetRoot/Asset/Physics/root_joint of type FixedJoint into a D6 joint. Only RevoluteJoint and PrismaticJoint are supported for merging."
-        }
-      ]
+      "kit_logs": []
     },
     {
       "test_name": "joint_movement",
@@ -637,11 +1030,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 31.41,
+      "duration": 24.246,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 5.265,
+          "value": 4.841,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -649,11 +1042,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 116.99,
+          "value": 107.58,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.782,
+          "value": 0.821,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -689,7 +1082,7 @@
           "unit": null
         },
         "jm_joint_fr3_finger_joint2_trans_pct": {
-          "value": 62.98,
+          "value": 62.97,
           "unit": null
         },
         "jm_joint_fr3_finger_joint2_bbox_m": {
@@ -729,11 +1122,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 30.465,
+      "duration": 35.082,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.939,
+          "value": 4.624,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -741,11 +1134,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 109.75,
+          "value": 102.76,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.78,
+          "value": 0.816,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -813,7 +1206,73 @@
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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",
@@ -821,11 +1280,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 7.285,
+      "duration": 5.341,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.969,
+          "value": 1.912,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -833,11 +1292,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 98.97,
+          "value": 63.74,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.533,
+          "value": 0.5,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -853,7 +1312,7 @@
           "unit": null
         },
         "light_response_variation_ratio": {
-          "value": 0.551724,
+          "value": 0.517241,
           "unit": null
         },
         "light_response_blank_ratio": {
@@ -873,7 +1332,7 @@
           "unit": null
         },
         "light_response_different_pairs": {
-          "value": 16,
+          "value": 15,
           "unit": null
         },
         "light_response_passed": {
@@ -881,15 +1340,81 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.733142,
+          "value": 0.735448,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.008431,
+          "value": 0.010136,
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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",
@@ -897,11 +1422,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 7.672,
+      "duration": 5.485,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 3.053,
+          "value": 1.918,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -909,11 +1434,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 101.77,
+          "value": 63.93,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.543,
+          "value": 0.497,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -957,15 +1482,81 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.732864,
+          "value": 0.733233,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.009695,
+          "value": 0.01027,
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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": "mimic_joint",
@@ -973,7 +1564,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.543,
+      "duration": 0.599,
       "message": "MIM: no PhysxMimicJointAPI found on any joint under the asset prim.\n\n  Found:    0 joints with PhysxMimicJointAPI applied\n  Expected: at least one revolute or prismatic joint with\n            PhysxMimicJointAPI:<axisToken> applied (rotX/rotY/rotZ\n            or transX/transY/transZ)\n\nFIX (if your asset has coupled joints, e.g. a parallel-jaw gripper\nwhere the two finger joints must move together):\n  1. Pick the driven joint and call it the REFERENCE joint. Leave\n     it with a normal drive (PhysicsDriveAPI or JointStateAPI).\n  2. On each FOLLOWER joint, apply PhysxMimicJointAPI keyed to that\n     joint's physics:axis instance token (e.g. \"rotX\" for a\n     revolute joint with physics:axis = \"X\").\n  3. Set physxMimicJoint:<axis>:gearing (non-zero) and\n     physxMimicJoint:<axis>:referenceJoint pointing at the\n     reference joint's prim path.\n  4. Both follower AND reference joints must have physics:lowerLimit\n     and physics:upperLimit authored, and neither may have\n     physics:excludeFromArticulation = true.\n\nPaste-ready USDA snippet (adapt paths, axis token, gearing sign,\nand limits to your asset):\n\n    # The follower joint: applies PhysxMimicJointAPI keyed to the axis\n    # token of the joint (rotX/rotY/rotZ for revolute, transX/transY/\n    # transZ for prismatic). The instance name MUST match physics:axis.\n    def PhysicsRevoluteJoint \"follower_joint\" (\n        prepend apiSchemas = [\"PhysxMimicJointAPI:rotX\"]\n    )\n    {\n        uniform token physics:axis = \"X\"\n        rel physics:body0 = <./path/to/parent_link>\n        rel physics:body1 = <./path/to/follower_link>\n        float physics:lowerLimit = -45.0   # required: limits must be authored\n        float physics:upperLimit =  45.0\n\n        # ---- PhysxMimicJointAPI:rotX attributes ----\n        # gearing: \u0394q_follower = gearing * \u0394q_reference + offset\n        # Must be a non-zero real number. Sign encodes direction:\n        # -1 = follower moves opposite the reference (typical for\n        # parallel-jaw grippers where one jaw mirrors the other).\n        float physxMimicJoint:rotX:gearing = -1.0\n        float physxMimicJoint:rotX:offset = 0.0\n        float physxMimicJoint:rotX:naturalFrequency = 100.0\n        float physxMimicJoint:rotX:dampingRatio = 0.0\n        # referenceJoint must point at a joint that does NOT itself\n        # carry PhysxMimicJointAPI (no chains/cycles).\n        rel physxMimicJoint:rotX:referenceJoint = <./path/to/reference_joint>\n    }\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n  Example:   sample_content/common_assets/robots_general/Robotiq/ezu_35/simready_isaac_usd/payloads/Physics/physx.usda\n             (search for: PhysxMimicJointAPI:rotX on GBA2_TRANS_2 / GBA3_TRANS_3 referencing Jaw_Drive with gearing = -1)\n\nNote: this test is SKIPPED (not failed) because mimic joints are\noptional. If your asset truly has no coupled joints, this skip is\nexpected and benign.",
       "metrics": {
         "mim_mimic_pairs_detected": {
@@ -987,18 +1578,17 @@
       "test_name": "mimic_joint",
       "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
-      "status": "fail",
+      "status": "skipped",
       "passed": false,
-      "duration": 0.282,
-      "message": "Test setup/runtime error (NewtonSceneInitializationError): Newton could not initialize this asset's physics scene (USD composition errors, invalid collision geometry, or a schema Newton rejects). The requested test did not execute; inspect kit_logs for the first Newton initialization error. This is an incomplete/error result, not a not-applicable skip.",
-      "metrics": {},
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "isaacsim.physics.newton.impl.newton_stage",
-          "message": "[Newton] Initialization failed: Cannot merge joint /World/AssetRoot/Asset/Physics/root_joint of type FixedJoint into a D6 joint. Only RevoluteJoint and PrismaticJoint are supported for merging."
+      "duration": 0.685,
+      "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": "multi_joint_coordination",
@@ -1006,7 +1596,67 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.688,
+      "duration": 5.95,
+      "message": "",
+      "metrics": {
+        "mjc_total_joints": {
+          "value": 2,
+          "unit": null
+        },
+        "mjc_valid_joints": {
+          "value": 2,
+          "unit": null
+        },
+        "mjc_loop_joints_skipped": {
+          "value": 0,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 1.604,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 17,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 94.34,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.398,
+          "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
+        },
+        "mjc_iterations_passed": {
+          "value": 3,
+          "unit": null
+        },
+        "mjc_iterations_failed": {
+          "value": 0,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "multi_joint_coordination",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 8.177,
       "message": "",
       "metrics": {
         "mjc_total_joints": {
@@ -1022,19 +1672,67 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 1.292,
+          "value": 1.398,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 15,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 93.22,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.365,
+          "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
+        },
+        "mjc_iterations_passed": {
+          "value": 3,
+          "unit": null
+        },
+        "mjc_iterations_failed": {
+          "value": 0,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "normals_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 1.758,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.547,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 14,
+          "value": 8,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 92.3,
+          "value": 68.32,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.321,
+          "value": 0.237,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1049,45 +1747,102 @@
           "value": 0,
           "unit": null
         },
-        "mjc_iterations_passed": {
-          "value": 3,
-          "unit": null
+        "normals_xz_avg_dark": {
+          "value": 2.5e-05,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 8.4e-05,
+          "unit": null
+        },
+        "normals_xz_problem_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_passed": {
+          "value": 1,
+          "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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]:                 ^^^^^^^^^^^^^^^^"
         },
-        "mjc_iterations_failed": {
-          "value": 0,
-          "unit": null
-        }
-      },
-      "kit_logs": []
-    },
-    {
-      "test_name": "multi_joint_coordination",
-      "engine": "isaac_sim_newton",
-      "engine_version": "6.1.0.0",
-      "status": "fail",
-      "passed": false,
-      "duration": 0.295,
-      "message": "Test setup/runtime error (NewtonSceneInitializationError): Newton could not initialize this asset's physics scene (USD composition errors, invalid collision geometry, or a schema Newton rejects). The requested test did not execute; inspect kit_logs for the first Newton initialization error. This is an incomplete/error result, not a not-applicable skip.",
-      "metrics": {},
-      "kit_logs": [
         {
           "level": "error",
-          "channel": "isaacsim.physics.newton.impl.newton_stage",
-          "message": "[Newton] Initialization failed: Cannot merge joint /World/AssetRoot/Asset/Physics/root_joint of type FixedJoint into a D6 joint. Only RevoluteJoint and PrismaticJoint are supported for merging."
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
         }
       ]
     },
     {
       "test_name": "normals_xz",
-      "engine": "isaac_sim",
+      "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 2.258,
+      "duration": 1.884,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.692,
+          "value": 0.539,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1095,11 +1850,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 86.52,
+          "value": 67.34,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.237,
+          "value": 0.232,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1131,63 +1886,73 @@
           "unit": null
         }
       },
-      "kit_logs": []
-    },
-    {
-      "test_name": "normals_xz",
-      "engine": "isaac_sim_newton",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 2.6,
-      "message": "",
-      "metrics": {
-        "_timing_capture_frame_total_s": {
-          "value": 0.858,
-          "unit": null
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
         },
-        "_timing_capture_frame_count": {
-          "value": 8,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.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"
         },
-        "_timing_capture_frame_avg_ms": {
-          "value": 107.2,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
         },
-        "_timing_encode_video_total_s": {
-          "value": 0.234,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.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"
         },
-        "_timing_encode_video_count": {
-          "value": 1,
-          "unit": null
+        {
+          "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"
         },
-        "_render_blank_retry_count": {
-          "value": 0,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
         },
-        "_render_blank_retry_unrecovered": {
-          "value": 0,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.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"
         },
-        "normals_xz_avg_dark": {
-          "value": 1.3e-05,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
         },
-        "normals_xz_max_dark": {
-          "value": 7.5e-05,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
         },
-        "normals_xz_problem_frames": {
-          "value": 0,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.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"
         },
-        "normals_xz_passed": {
-          "value": 1,
-          "unit": null
+        {
+          "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": "pivot",
@@ -1195,11 +1960,11 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 6.798,
+      "duration": 4.058,
       "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 18.8% from base (should be <10%).\nX-axis tilt causes ground penetration (min_z=-0.089).\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": 2.391,
+          "value": 1.638,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1207,11 +1972,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 119.53,
+          "value": 81.89,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.59,
+          "value": 0.572,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1255,7 +2020,73 @@
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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",
@@ -1263,11 +2094,11 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 6.827,
+      "duration": 4.084,
       "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 18.8% from base (should be <10%).\nX-axis tilt causes ground penetration (min_z=-0.089).\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": 2.164,
+          "value": 1.751,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1275,11 +2106,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 108.19,
+          "value": 87.57,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.589,
+          "value": 0.563,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1322,8 +2153,74 @@
           "value": 0,
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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": "presence",
@@ -1331,11 +2228,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 0.862,
+      "duration": 0.651,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.192,
+          "value": 0.127,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1343,7 +2240,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 96.11,
+          "value": 63.38,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -1371,7 +2268,73 @@
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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": "presence",
@@ -1379,11 +2342,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 0.764,
+      "duration": 0.575,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.151,
+          "value": 0.13,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1391,7 +2354,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 75.28,
+          "value": 64.79,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -1411,7 +2374,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.115083,
+          "value": 0.115101,
           "unit": null
         },
         "presence_passed": {
@@ -1419,7 +2382,73 @@
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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": "preview_surface_renders",
@@ -1427,11 +2456,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.529,
+      "duration": 1.395,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.478,
+          "value": 0.479,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1439,7 +2468,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 119.47,
+          "value": 119.77,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -1487,7 +2516,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 120309,
+          "value": 120293,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -1573,11 +2602,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.304,
+      "duration": 1.706,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.444,
+          "value": 0.491,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1585,7 +2614,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 110.89,
+          "value": 122.82,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -1633,7 +2662,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 120370,
+          "value": 120330,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -1719,7 +2748,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.051,
+      "duration": 0.057,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "slope_drop_skipped": {
@@ -1735,7 +2764,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.066,
+      "duration": 0.047,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "slope_drop_skipped": {
@@ -1751,7 +2780,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 22.909,
+      "duration": 26.11,
       "message": "",
       "metrics": {
         "sta_joints_with_limits": {
@@ -1771,7 +2800,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 9.151,
+          "value": 9.535,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1779,11 +2808,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 91.51,
+          "value": 95.35,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.538,
+          "value": 1.629,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1811,7 +2840,7 @@
           "unit": null
         },
         "sta_max_position_error_deg": {
-          "value": 0.5737574053769567,
+          "value": 0.5734084253990515,
           "unit": null
         }
       },
@@ -1821,18 +2850,73 @@
       "test_name": "state_accuracy",
       "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
-      "status": "fail",
-      "passed": false,
-      "duration": 0.264,
-      "message": "Test setup/runtime error (NewtonSceneInitializationError): Newton could not initialize this asset's physics scene (USD composition errors, invalid collision geometry, or a schema Newton rejects). The requested test did not execute; inspect kit_logs for the first Newton initialization error. This is an incomplete/error result, not a not-applicable skip.",
-      "metrics": {},
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "isaacsim.physics.newton.impl.newton_stage",
-          "message": "[Newton] Initialization failed: Cannot merge joint /World/AssetRoot/Asset/Physics/root_joint of type FixedJoint into a D6 joint. Only RevoluteJoint and PrismaticJoint are supported for merging."
+      "status": "pass",
+      "passed": true,
+      "duration": 17.474,
+      "message": "",
+      "metrics": {
+        "sta_joints_with_limits": {
+          "value": 2,
+          "unit": null
+        },
+        "sta_joints_skipped_passive": {
+          "value": 0,
+          "unit": null
+        },
+        "sta_joints_skipped_mimic_follower": {
+          "value": 0,
+          "unit": null
+        },
+        "sta_joints_skipped_loop": {
+          "value": 0,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 4.303,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 48,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 89.64,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.826,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "sta_joints_tested": {
+          "value": 2,
+          "unit": null
+        },
+        "sta_joints_passed": {
+          "value": 2,
+          "unit": null
+        },
+        "sta_joints_failed": {
+          "value": 0,
+          "unit": null
+        },
+        "sta_max_position_error_deg": {
+          "value": 2.8642731362892215,
+          "unit": null
         }
-      ]
+      },
+      "kit_logs": []
     },
     {
       "test_name": "velocity_limit",
@@ -1840,7 +2924,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 15.378,
+      "duration": 17.823,
       "message": "",
       "metrics": {
         "vel_joints_with_limits": {
@@ -1848,7 +2932,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 5.736,
+          "value": 5.983,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1856,11 +2940,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 95.6,
+          "value": 99.71,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.962,
+          "value": 1.06,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1890,18 +2974,53 @@
       "test_name": "velocity_limit",
       "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
-      "status": "fail",
-      "passed": false,
-      "duration": 0.337,
-      "message": "Test setup/runtime error (NewtonSceneInitializationError): Newton could not initialize this asset's physics scene (USD composition errors, invalid collision geometry, or a schema Newton rejects). The requested test did not execute; inspect kit_logs for the first Newton initialization error. This is an incomplete/error result, not a not-applicable skip.",
-      "metrics": {},
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "isaacsim.physics.newton.impl.newton_stage",
-          "message": "[Newton] Initialization failed: Cannot merge joint /World/AssetRoot/Asset/Physics/root_joint of type FixedJoint into a D6 joint. Only RevoluteJoint and PrismaticJoint are supported for merging."
+      "status": "pass",
+      "passed": true,
+      "duration": 7.223,
+      "message": "",
+      "metrics": {
+        "vel_joints_with_limits": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 1.226,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 12,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 102.18,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.325,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "vel_joints_passed": {
+          "value": 2,
+          "unit": null
+        },
+        "vel_joints_failed": {
+          "value": 0,
+          "unit": null
         }
-      ]
+      },
+      "kit_logs": []
     }
   ]
 }

franka_hand/com.nvidia.simready.packaging.json

@@ -6,13 +6,13 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "e77fbcaab1fb09df79b3eefa083430e04a663f59452fa07b20332a73b0ed21e8"
+        "sha256": "791e8b07e436e25a1aa1888148da0907949f4120e9f8f62152fad9f5efe2d6c0"
       }
     },
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "00337544635d9b57981532db58996be23730c10e6e1ae8b0110047e2536082f7"
+        "sha256": "a2a72d7718ac26e33ad4756c00d5745870294959a41a5bdd93b075b5670d1fe1"
       }
     },
     {
@@ -23,9 +23,9 @@
     }
   ],
   "content_hash": {
-    "sha256": "715f9a1eb9ff07e9e2730bbe6f77cfb2295c2698f98a4ff6c02b3f3d50964059"
+    "sha256": "8998befbc9eb7233d8cca43c5888d627764d4fff3ae90b67d28721fda817cb06"
   },
   "package_hash": {
-    "sha256": "3dcd2d8ae384f2609f2e6e7628ff986822802281509d56c58e115102e48892d1"
+    "sha256": "5ce1401d490c1fab475a0ea569706bbe1a4056dc3e05c9afc56b41af1d438ef7"
   }
 }

franka_hand/simready_usd/payloads/Physics/physics.usda

@@ -131,7 +131,6 @@ over "franka_hand"
         def PhysicsFixedJoint "root_joint"
         {
             custom rel physics:body0
-            append rel physics:body0 = </franka_hand>
             custom rel physics:body1
             append rel physics:body1 = </franka_hand/Geometry/fr3_hand>
             point3f physics:localPos0 = (0, 0, 0)

franka_hand/simready_usd/payloads/Physics/position_physics.usda

@@ -9,9 +9,10 @@ These are the position-actuator gains (kp / kv) of the FR3 v2 model in MuJoCo Me
 (google-deepmind/mujoco_menagerie, franka_fr3_v2/fr3v2.xml), authored here per degree,
 as UsdPhysics angular drives require.
 
-Franka Hand finger joints (prismatic): 2000 N/m / 100 N*s/m, the gains of the Franka hand
-actuator in Isaac Lab (isaaclab_assets, robots/franka.py). Both fingers are driven, so
-they hold the same opening in every solver; the URDF's mimic is honoured by Newton only.
+Franka Hand finger joints (prismatic): 2000 N/m / 500 N*s/m. The stiffness is Isaac Lab's
+Franka hand actuator (isaaclab_assets, robots/franka.py); the damping is raised from its 100
+so the fingers stay under the URDF's 0.2 m/s. Both fingers are driven with the same target
+in every solver (the URDF mimic is removed, see remove_mimic.py).
 """
     kilogramsPerUnit = 1
     metersPerUnit = 1
@@ -24,13 +25,13 @@ over "franka_hand"
     {
         over "fr3_finger_joint1"
         {
-            float drive:linear:physics:damping = 100
+            float drive:linear:physics:damping = 500
             float drive:linear:physics:stiffness = 2000
         }
 
         over "fr3_finger_joint2"
         {
-            float drive:linear:physics:damping = 100
+            float drive:linear:physics:damping = 500
             float drive:linear:physics:stiffness = 2000
         }
     }

franka_hand/simready_usd/runnables/physics/newton.usda

@@ -102,11 +102,9 @@ over "franka_hand"
         }
 
         over "fr3_finger_joint2" (
-            prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
         )
         {
             float newton:damping = 0.3
-            rel newton:mimicJoint = </franka_hand/Physics/fr3_finger_joint1>
             float newton:velocityLimit = 0.2
         }
     }