Add SimReady package: fr3_duo_vision_manipulation_kit

fr3_duo_vision_manipulation_kit/.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": "2026-10-15T15:13:01",
+  "timestamp": "2026-10-16T08:27:49",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

fr3_duo_vision_manipulation_kit/.metadata/fr3_duo_vision_manipulation_kit_benchmark.json

@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0",
   "asset": "fr3_duo_vision_manipulation_kit",
-  "run_timestamp": "2026-10-15T15:13:00Z",
+  "run_timestamp": "2026-10-16T08:27:47Z",
   "passed": false,
   "results": [
     {
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 7.873,
+      "duration": 6.054,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.568,
+          "value": 1.266,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 98.02,
+          "value": 79.15,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.6,
+          "value": 0.531,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -42,11 +42,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.000103,
+          "value": 0.000115,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 1.9e-05,
+          "value": 3e-05,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -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": 7.108,
+      "duration": 5.638,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.424,
+          "value": 1.171,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -78,11 +144,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 88.99,
+          "value": 73.16,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.61,
+          "value": 0.56,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -98,15 +164,15 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.000184,
+          "value": 0.000126,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 4.6e-05,
+          "value": 2.3e-05,
           "unit": null
         },
         "culling_xz_worst_angle": {
-          "value": 90.0,
+          "value": 180.0,
           "unit": null
         },
         "culling_xz_passed": {
@@ -188,7 +254,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 7.425,
+      "duration": 7.329,
       "message": "",
       "metrics": {
         "display_color_asset_root": {
@@ -216,7 +282,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 0.468,
+          "value": 0.475,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -224,11 +290,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 93.59,
+          "value": 94.91,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.228,
+          "value": 0.206,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -244,11 +310,11 @@
           "unit": null
         },
         "display_color_silhouette_pixels": {
-          "value": 59234,
+          "value": 59256,
           "unit": null
         },
         "display_color_whole_frame_delta_pixels": {
-          "value": 61073,
+          "value": 61064,
           "unit": null
         },
         "display_color_read_mean_rgb": {
@@ -260,19 +326,85 @@
           "unit": null
         },
         "display_color_control_ratio": {
-          "value": 0.001131,
+          "value": 0.001013,
           "unit": null
         },
         "display_color_response_ratio": {
-          "value": 0.99973,
+          "value": 0.999713,
           "unit": null
         },
         "display_color_opacity_ratio": {
-          "value": 0.958233,
+          "value": 0.958553,
           "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",
@@ -280,7 +412,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 7.736,
+      "duration": 7.476,
       "message": "",
       "metrics": {
         "display_color_asset_root": {
@@ -308,7 +440,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 0.518,
+          "value": 0.607,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -316,11 +448,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 103.68,
+          "value": 121.32,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.237,
+          "value": 0.21,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -336,23 +468,23 @@
           "unit": null
         },
         "display_color_silhouette_pixels": {
-          "value": 59228,
+          "value": 59243,
           "unit": null
         },
         "display_color_whole_frame_delta_pixels": {
-          "value": 61073,
+          "value": 61066,
           "unit": null
         },
         "display_color_read_mean_rgb": {
           "value": [
-            0.0728,
+            0.0727,
             0.0728,
             0.0722
           ],
           "unit": null
         },
         "display_color_control_ratio": {
-          "value": 0.00103,
+          "value": 0.001131,
           "unit": null
         },
         "display_color_response_ratio": {
@@ -360,7 +492,7 @@
           "unit": null
         },
         "display_color_opacity_ratio": {
-          "value": 0.958128,
+          "value": 0.958392,
           "unit": null
         }
       },
@@ -438,7 +570,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 27.457,
+      "duration": 26.985,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -454,7 +586,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 4.477,
+          "value": 4.517,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -462,11 +594,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 93.28,
+          "value": 94.1,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.874,
+          "value": 0.876,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -564,7 +696,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 116.195,
+      "duration": 115.749,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -580,7 +712,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 16.464,
+          "value": 16.681,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -588,11 +720,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 93.54,
+          "value": 94.78,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.723,
+          "value": 2.714,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -624,7 +756,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 202.346,
+      "duration": 198.622,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -640,7 +772,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 34.204,
+          "value": 33.639,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -648,11 +780,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 89.07,
+          "value": 87.6,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 5.618,
+          "value": 5.446,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -754,7 +886,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 304.915,
+      "duration": 302.032,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -770,7 +902,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 47.298,
+          "value": 46.717,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -778,11 +910,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 98.54,
+          "value": 97.33,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 7.305,
+          "value": 7.49,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -810,73 +942,7 @@
           "unit": null
         }
       },
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: Traceback (most recent call last):"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"./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'"
-        }
-      ]
+      "kit_logs": []
     },
     {
       "test_name": "full_range_sweep",
@@ -884,7 +950,7 @@
       "engine_version": "6.1.0.0",
       "status": "fail",
       "passed": false,
-      "duration": 486.793,
+      "duration": 494.378,
       "message": "FRS: 2/16 joints failed the full-range sweep.\n  Failing joints: left_fr3v2_1_joint2, right_fr3v2_1_joint2\n\nEach failing joint has one or more per-joint warnings above with its specific\nfailure mode (bbox explode, rest violation at a commanded target, or zero-return\nerror) and a four-to-six-item inspection checklist for the drive gains, drive\nmaxForce, joint limits, and mimic-status of that joint. Walk those first.\n\nQUICK TRIAGE:\n  - If most or all joints fail with rest-violation or zero-return errors: the\n    asset-wide drive tuning is off. Most likely cause is uniformly low stiffness\n    or damping authored across all driven joints, or a configuration mistake\n    (e.g. drive:linear gains on a revolute joint, or vice versa). Spot-check\n    drive:<axis>:physics:stiffness / damping / maxForce on every driven joint\n    prim. DJ.006 ranges: stiffness 100-10000, damping 1-100.\n  - If exactly one or two joints fail: those joints' drive gains or limits are\n    the most likely culprit. Edit the joint prims in USD against the per-joint\n    warnings above.\n  - If failures cite bbox explode: the test detected runaway motion, not a tuning\n    issue alone. Check link mass / inertia, articulation root pinning, and that\n    FET022 per-body gravity disable applied (look for 'articulation.disable_gravity'\n    in RobotHandle.initialize logs).\n  - If failures cite zero-return only (no rest, no bbox): drives are likely under-\n    stiff or under-damped. Bump stiffness/damping by 2x and re-run before chasing\n    deeper authoring issues.\n\nConfiguration overrides (in the FRS phase config) when failures reflect test\npolicy rather than authoring:\n  - 'pause_at_limits_seconds' (default 0.15): widen the rest window for slow-\n    settling drives.\n  - 'rest_check_fatal' (default True): endpoint hold failures contribute to the\n    verdict. Set False only for an explicitly diagnostic run.\n  - 'zero_return_tolerance' (default 0.01): relax only for backlash-heavy hardware.\n\nREFERENCE:\n  Feature:   nv_core/sr_specs/docs/shared/features/FET_022-driven_joints.md\n  Drive:     nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/\n             physics-drive-and-joint-state.md (DJ.001 -- maxForce > 0)\n             drive-joint-value-reasonable.md  (DJ.006 -- stiffness/damping ranges)\n             physics-joint-max-velocity.md    (DJ.005 -- maxJointVelocity > 0)\n  Joints:    nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_joints/requirements/\n             joint-body-target-exists.md\n  Example:   sample_content/common_assets/robots_general/Franka/FrankaResearch3/\n             simready_isaac_usd/FrankaResearch3.usda\n             (search for: physics:lowerLimit, physics:upperLimit,\n              drive:angular:physics:stiffness)",
       "metrics": {
         "frs_total_dofs": {
@@ -908,7 +974,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 42.637,
+          "value": 42.831,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -916,11 +982,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 88.83,
+          "value": 89.23,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 7.018,
+          "value": 6.975,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1018,7 +1084,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.13,
+      "duration": 0.124,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "ground_drop_skipped": {
@@ -1034,7 +1100,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.132,
+      "duration": 0.119,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "ground_drop_skipped": {
@@ -1050,7 +1116,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 1.91,
+      "duration": 1.934,
       "message": "IK Target Reach phase cannot run: no Lula kinematics descriptor matched this asset.\n\n  Found:    asset_path='./assets/fr3_duo_vision_manipulation_kit/simready_usd/fr3_duo_vision_manipulation_kit.usda'\n            isaac:robotType='ARM'\n  Expected: the asset's path OR its IsaacRobotAPI.isaac:robotType\n            value contains one of the canonical Lula-supported\n            robot keys (case-insensitive substring match):\n              Franka, UR3, UR5, UR10, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4\n\nFIX (asset-authoring): the Lula IK solver needs a descriptor YAML +\nURDF pair to know your robot's kinematic chain. Two ways to satisfy\nthis test:\n\n  1. RENAME / RETAG to a supported model. If your robot IS one of the\n     supported models above, ensure the asset folder name (or the\n     default prim's isaac:robotType token) contains the canonical\n     key. For example, place the asset under a folder containing\n     'Franka' or set:\n         token isaac:robotType = \"Manipulator\"\n         string isaac:robotName = \"Franka\"\n     on the default prim.\n\n  2. PROVIDE an explicit Lula descriptor. Set the phase config in\n     your test profile:\n         lula_robot_name: \"<canonical-name>\"\n         lula_yaml_path:  \"./abs/path/to/robot_descriptor.yaml\"\n         lula_urdf_path:  \"./abs/path/to/robot.urdf\"\n     The YAML must list the kinematic chain (base_link, cspace,\n     active joints, default_q) per Isaac Sim's Lula descriptor\n     format. See any policy in the policy_map directory cited below\n     for a working template.\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/robot_core/requirements/robot-type.md (RC.008)\n             nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/robot_core/requirements/robot-schema.md (RC.007)\n  Feature:   nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_021_ISAAC.md\n  Lula descriptors: Isaac Sim ships YAML+URDF pairs under\n             isaacsim.robot_motion.motion_generation/policies/\n             policy_map.json -- keyed by canonical robot name\n             (Franka, UR3, UR5, UR10, UR16e, Kinova_Gen3,\n              Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta,\n              Festo_Cobot, Rethink_Sawyer, Rizon4).\n  Example:   Any Franka_*.usd or UR10_*.usd asset under\n             sample_content/common_assets/robots_general/ -- the\n             asset folder name contains the canonical robot key\n             and the default prim sets isaac:robotType=\"Manipulator\".",
       "metrics": {},
       "kit_logs": []
@@ -1061,7 +1127,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 5.142,
+      "duration": 5.058,
       "message": "IK Target Reach phase cannot run: no Lula kinematics descriptor matched this asset.\n\n  Found:    asset_path='./assets/fr3_duo_vision_manipulation_kit/simready_usd/fr3_duo_vision_manipulation_kit.usda'\n            isaac:robotType='ARM'\n  Expected: the asset's path OR its IsaacRobotAPI.isaac:robotType\n            value contains one of the canonical Lula-supported\n            robot keys (case-insensitive substring match):\n              Franka, UR3, UR5, UR10, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4\n\nFIX (asset-authoring): the Lula IK solver needs a descriptor YAML +\nURDF pair to know your robot's kinematic chain. Two ways to satisfy\nthis test:\n\n  1. RENAME / RETAG to a supported model. If your robot IS one of the\n     supported models above, ensure the asset folder name (or the\n     default prim's isaac:robotType token) contains the canonical\n     key. For example, place the asset under a folder containing\n     'Franka' or set:\n         token isaac:robotType = \"Manipulator\"\n         string isaac:robotName = \"Franka\"\n     on the default prim.\n\n  2. PROVIDE an explicit Lula descriptor. Set the phase config in\n     your test profile:\n         lula_robot_name: \"<canonical-name>\"\n         lula_yaml_path:  \"./abs/path/to/robot_descriptor.yaml\"\n         lula_urdf_path:  \"./abs/path/to/robot.urdf\"\n     The YAML must list the kinematic chain (base_link, cspace,\n     active joints, default_q) per Isaac Sim's Lula descriptor\n     format. See any policy in the policy_map directory cited below\n     for a working template.\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/robot_core/requirements/robot-type.md (RC.008)\n             nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/robot_core/requirements/robot-schema.md (RC.007)\n  Feature:   nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_021_ISAAC.md\n  Lula descriptors: Isaac Sim ships YAML+URDF pairs under\n             isaacsim.robot_motion.motion_generation/policies/\n             policy_map.json -- keyed by canonical robot name\n             (Franka, UR3, UR5, UR10, UR16e, Kinova_Gen3,\n              Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta,\n              Festo_Cobot, Rethink_Sawyer, Rizon4).\n  Example:   Any Franka_*.usd or UR10_*.usd asset under\n             sample_content/common_assets/robots_general/ -- the\n             asset folder name contains the canonical robot key\n             and the default prim sets isaac:robotType=\"Manipulator\".",
       "metrics": {},
       "kit_logs": []
@@ -1072,7 +1138,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 282.013,
+      "duration": 280.52,
       "message": "",
       "metrics": {
         "jik_robot_reach": {
@@ -1112,7 +1178,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 5.38,
+          "value": 5.398,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1120,11 +1186,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 89.66,
+          "value": 89.97,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.135,
+          "value": 1.054,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1200,102 +1266,36 @@
           "unit": null
         }
       },
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: Traceback (most recent call last):"
+      "kit_logs": []
+    },
+    {
+      "test_name": "joint_movement",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 80.976,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 6.238,
+          "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_count": {
+          "value": 45,
+          "unit": null
         },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        "_timing_capture_frame_avg_ms": {
+          "value": 138.62,
+          "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_total_s": {
+          "value": 0.818,
+          "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"
-        },
-        {
-          "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": "joint_movement",
-      "engine": "isaac_sim",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 81.284,
-      "message": "",
-      "metrics": {
-        "_timing_capture_frame_total_s": {
-          "value": 6.411,
-          "unit": null
-        },
-        "_timing_capture_frame_count": {
-          "value": 45,
-          "unit": null
-        },
-        "_timing_capture_frame_avg_ms": {
-          "value": 142.46,
-          "unit": null
-        },
-        "_timing_encode_video_total_s": {
-          "value": 0.846,
-          "unit": null
-        },
-        "_timing_encode_video_count": {
-          "value": 1,
-          "unit": null
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
         },
         "_render_blank_retry_count": {
           "value": 0,
@@ -1838,7 +1838,73 @@
           "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": "joint_movement",
@@ -1846,11 +1912,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 39.244,
+      "duration": 38.399,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.973,
+          "value": 5.075,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1858,11 +1924,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 110.52,
+          "value": 112.78,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.86,
+          "value": 0.852,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2426,73 +2492,7 @@
           "unit": null
         }
       },
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: Traceback (most recent call last):"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"./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'"
-        }
-      ]
+      "kit_logs": []
     },
     {
       "test_name": "light_response",
@@ -2500,11 +2500,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 8.689,
+      "duration": 7.436,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.776,
+          "value": 2.076,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2512,11 +2512,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 92.55,
+          "value": 69.21,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.572,
+          "value": 0.507,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2532,7 +2532,7 @@
           "unit": null
         },
         "light_response_variation_ratio": {
-          "value": 0.62069,
+          "value": 0.551724,
           "unit": null
         },
         "light_response_blank_ratio": {
@@ -2552,7 +2552,7 @@
           "unit": null
         },
         "light_response_different_pairs": {
-          "value": 18,
+          "value": 16,
           "unit": null
         },
         "light_response_passed": {
@@ -2560,11 +2560,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.770284,
+          "value": 0.770412,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.014076,
+          "value": 0.014235,
           "unit": null
         }
       },
@@ -2642,11 +2642,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 8.844,
+      "duration": 7.13,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.812,
+          "value": 1.936,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2654,11 +2654,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 93.72,
+          "value": 64.54,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.598,
+          "value": 0.549,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2674,7 +2674,7 @@
           "unit": null
         },
         "light_response_variation_ratio": {
-          "value": 0.517241,
+          "value": 0.586207,
           "unit": null
         },
         "light_response_blank_ratio": {
@@ -2694,7 +2694,7 @@
           "unit": null
         },
         "light_response_different_pairs": {
-          "value": 15,
+          "value": 17,
           "unit": null
         },
         "light_response_passed": {
@@ -2702,11 +2702,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.769663,
+          "value": 0.768966,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.012708,
+          "value": 0.014883,
           "unit": null
         }
       },
@@ -2784,7 +2784,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 173.504,
+      "duration": 171.321,
       "message": "",
       "metrics": {
         "mim_mimic_pairs_detected": {
@@ -2796,7 +2796,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 26.957,
+          "value": 26.893,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2804,11 +2804,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 89.86,
+          "value": 89.64,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 4.324,
+          "value": 4.352,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3306,7 +3306,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 53.627,
+      "duration": 53.596,
       "message": "",
       "metrics": {
         "mjc_total_joints": {
@@ -3322,7 +3322,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 8.08,
+          "value": 7.904,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3330,11 +3330,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 93.96,
+          "value": 91.91,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.434,
+          "value": 1.445,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3432,11 +3432,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.232,
+      "duration": 3.675,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.632,
+          "value": 0.518,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3444,11 +3444,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 78.95,
+          "value": 64.72,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.264,
+          "value": 0.241,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3464,11 +3464,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.000823,
+          "value": 0.000915,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.00463,
+          "value": 0.006288,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -3488,11 +3488,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.24,
+      "duration": 3.895,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.608,
+          "value": 0.617,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3500,11 +3500,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 76.03,
+          "value": 77.13,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.289,
+          "value": 0.249,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3520,11 +3520,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.000974,
+          "value": 0.000948,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.006031,
+          "value": 0.005983,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -3610,11 +3610,79 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 8.871,
+      "duration": 6.436,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.693,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 84.66,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.591,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_score": {
+          "value": 0.7,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 7.0,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "pivot",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 6.919,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.041,
+          "value": 1.692,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3622,11 +3690,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 102.07,
+          "value": 84.59,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.658,
+          "value": 0.588,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3739,32 +3807,32 @@
       ]
     },
     {
-      "test_name": "pivot",
-      "engine": "isaac_sim_newton",
+      "test_name": "presence",
+      "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 7.988,
+      "duration": 2.383,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.097,
+          "value": 0.135,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 20,
+          "value": 2,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 104.85,
+          "value": 67.69,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.653,
+          "value": 0.0,
           "unit": null
         },
         "_timing_encode_video_count": {
-          "value": 2,
+          "value": 0,
           "unit": null
         },
         "_render_blank_retry_count": {
@@ -3775,31 +3843,11 @@
           "value": 0,
           "unit": null
         },
-        "pivot_score": {
-          "value": 0.7,
-          "unit": null
-        },
-        "pivot_pivot_height_pct": {
-          "value": 7.0,
-          "unit": null
-        },
-        "pivot_pivot_at_base": {
-          "value": 1,
-          "unit": null
-        },
-        "pivot_pivot_centered_xy": {
-          "value": 0,
-          "unit": null
-        },
-        "pivot_ground_penetration": {
-          "value": 1,
-          "unit": null
-        },
-        "pivot_orbital_motion": {
-          "value": 1,
+        "presence_diff_ratio": {
+          "value": 0.058194,
           "unit": null
         },
-        "pivot_passed": {
+        "presence_passed": {
           "value": 1,
           "unit": null
         }
@@ -3874,15 +3922,15 @@
     },
     {
       "test_name": "presence",
-      "engine": "isaac_sim",
+      "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 2.844,
+      "duration": 2.363,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.18,
+          "value": 0.13,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3890,7 +3938,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 90.2,
+          "value": 65.06,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -3910,7 +3958,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.058246,
+          "value": 0.058211,
           "unit": null
         },
         "presence_passed": {
@@ -3918,55 +3966,73 @@
           "unit": null
         }
       },
-      "kit_logs": []
-    },
-    {
-      "test_name": "presence",
-      "engine": "isaac_sim_newton",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 2.763,
-      "message": "",
-      "metrics": {
-        "_timing_capture_frame_total_s": {
-          "value": 0.19,
-          "unit": null
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
         },
-        "_timing_capture_frame_count": {
-          "value": 2,
-          "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": 94.97,
-          "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": 0.0,
-          "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/widget.py\", line 516, in __set_image_data"
         },
-        "_timing_encode_video_count": {
-          "value": 0,
-          "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"
         },
-        "presence_diff_ratio": {
-          "value": 0.058222,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
         },
-        "presence_passed": {
-          "value": 1,
-          "unit": null
+        {
+          "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'"
         }
-      },
-      "kit_logs": []
+      ]
     },
     {
       "test_name": "preview_surface_renders",
@@ -3974,11 +4040,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 2.42,
+      "duration": 2.222,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.583,
+          "value": 0.55,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3986,7 +4052,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 145.71,
+          "value": 137.4,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -4034,7 +4100,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 59082,
+          "value": 59067,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -4120,11 +4186,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 2.447,
+      "duration": 2.334,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.587,
+          "value": 0.524,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -4132,7 +4198,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 146.67,
+          "value": 131.1,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -4180,7 +4246,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 59108,
+          "value": 59071,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -4192,73 +4258,7 @@
           "unit": null
         }
       },
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: Traceback (most recent call last):"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"./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'"
-        }
-      ]
+      "kit_logs": []
     },
     {
       "test_name": "slope_drop",
@@ -4266,7 +4266,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.141,
+      "duration": 0.132,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "slope_drop_skipped": {
@@ -4282,7 +4282,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.143,
+      "duration": 0.123,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "slope_drop_skipped": {
@@ -4298,7 +4298,7 @@
       "engine_version": "6.1.0.0",
       "status": "fail",
       "passed": false,
-      "duration": 208.812,
+      "duration": 207.422,
       "message": "STA: 4/16 joints failed state accuracy.\n\nFAILING JOINTS: left_fr3v2_1_joint4, right_fr3v2_1_joint4, left_fr3v2_1_joint6, right_fr3v2_1_joint6\n\nWHAT WE FOUND:\n  At least one joint could not hold its commanded position within\n  the tolerance during the 5-waypoint test. Per-joint detail (max\n  position error in degrees, failed targets) is in the warnings\n  above and recorded as `sta_max_position_error_deg` in\n  result.json.\n\nFIX (in priority order):\n  1. Raise drive stiffness/damping on the failing joint(s). On\n     each joint prim, edit:\n         float drive:angular:physics:stiffness = <larger value>\n         float drive:angular:physics:damping   = <larger value>\n     For ARM/SCARA robots FET022 disables robot gravity per-body\n     during STA, so the drive only needs to overcome link inertia;\n     a few hundred N-m/rad is usually enough. If you see large\n     steady-state errors specifically on horizontal-axis joints,\n     the per-body gravity disable may have failed -- check the\n     `articulation.disable_gravity()` and `per-body\n     disable_gravity` events from RobotHandle.initialize in the\n     log.\n  2. If the joint oscillates instead of settling, raise damping\n     by 2-5x before raising stiffness further.\n  3. Verify authored position limits include the test waypoints.\n     The test commands joints to small +/-step targets around 0\n     by default; if 0 is outside your authored range, the test\n     cannot reach it. Edit `physics:lowerLimit` /\n     `physics:upperLimit` on the joint prim.\n  4. Inspect downstream mass. A heavy distal link causes upstream\n     joints to undershoot under default gains. Re-check\n     `physxRigidBody:mass` and `physxRigidBody:diagonalInertia`\n     on each downstream link.\n  5. Increase `test_duration_seconds` (default 3.0) only if the\n     joint is slow but does reach the target eventually.\n  6. Loosen `position_tolerance_deg` (default 5.0) only when\n     intentional steady-state error is acceptable for the asset.\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/\n               drive-joint-value-reasonable.md\n               physics-drive-and-joint-state.md\n               joint-has-joint-state-api.md\n  Example:   sample_content/common_assets/robots_general/ur10/simready_isaac_usd/payloads/Physics/physx.usda\n             (search for: drive:angular:physics:stiffness)",
       "metrics": {
         "sta_joints_with_limits": {
@@ -4318,7 +4318,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 41.105,
+          "value": 41.168,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -4326,11 +4326,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 85.28,
+          "value": 85.41,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 6.882,
+          "value": 6.994,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -4436,7 +4436,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 18.768,
+      "duration": 18.843,
       "message": "",
       "metrics": {
         "vel_joints_skipped_passive": {
@@ -4456,7 +4456,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 3.981,
+          "value": 4.079,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -4464,11 +4464,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 84.7,
+          "value": 86.79,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.854,
+          "value": 0.829,
           "unit": null
         },
         "_timing_encode_video_count": {

fr3_duo_vision_manipulation_kit/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "bc19b4adf9080a1079546651ca43653187518791b302cf04b03bbf1e2f6aa8e5"
+        "sha256": "1f90391dafab0624d5a3eaea35b7564ebf03444ba692c3f3e422f86ffafeff9e"
       }
     },
     {
@@ -26,6 +26,6 @@
     "sha256": "153cbe494d4f3b5780ee840e363e1cbede3a093dc7299a81878314a8b6fb70ab"
   },
   "package_hash": {
-    "sha256": "0c95b31f06a2ad347fb6a38c39c4e53f7bc03a2bcda4dee6a8a22d593163a4ce"
+    "sha256": "07413e3a6b404e4472d3ab4e6fa3de58a05cc81198e0ee66ecaaaf83127a58f6"
   }
 }