Add SimReady package: fr3_duo

fr3_duo/.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": "2026-10-14T10:04:58",
+  "timestamp": "2026-10-16T07:54:02",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

fr3_duo/.metadata/fr3_duo_benchmark.json

@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0",
   "asset": "fr3_duo",
-  "run_timestamp": "2026-10-14T10:04:57Z",
+  "run_timestamp": "2026-10-16T07:54:01Z",
   "passed": false,
   "results": [
     {
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.729,
+      "duration": 4.418,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.205,
+          "value": 1.15,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 75.33,
+          "value": 71.86,
           "unit": null
         },
         "_timing_encode_video_total_s": {
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+          "value": 0.536,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -42,15 +42,15 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.000559,
+          "value": 1.5e-05,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 0.000101,
+          "value": 2e-06,
           "unit": null
         },
         "culling_xz_worst_angle": {
-          "value": 45.0,
+          "value": 90.0,
           "unit": null
         },
         "culling_xz_passed": {
@@ -132,11 +132,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.93,
+      "duration": 4.648,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.128,
+          "value": 1.173,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -144,11 +144,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 70.52,
+          "value": 73.28,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.55,
+          "value": 0.532,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -164,15 +164,15 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.000394,
+          "value": 0.000132,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 5.3e-05,
+          "value": 2.4e-05,
           "unit": null
         },
         "culling_xz_worst_angle": {
-          "value": 45.0,
+          "value": 135.0,
           "unit": null
         },
         "culling_xz_passed": {
@@ -254,7 +254,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.303,
+      "duration": 6.261,
       "message": "",
       "metrics": {
         "display_color_asset_root": {
@@ -282,7 +282,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 0.469,
+          "value": 0.415,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -290,11 +290,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 93.72,
+          "value": 82.96,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.193,
+          "value": 0.183,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -310,23 +310,23 @@
           "unit": null
         },
         "display_color_silhouette_pixels": {
-          "value": 56687,
+          "value": 56681,
           "unit": null
         },
         "display_color_whole_frame_delta_pixels": {
-          "value": 57077,
+          "value": 57069,
           "unit": null
         },
         "display_color_read_mean_rgb": {
           "value": [
-            0.072,
+            0.0719,
             0.072,
             0.0715
           ],
           "unit": null
         },
         "display_color_control_ratio": {
-          "value": 0.001288,
+          "value": 0.001358,
           "unit": null
         },
         "display_color_response_ratio": {
@@ -334,7 +334,7 @@
           "unit": null
         },
         "display_color_opacity_ratio": {
-          "value": 0.974809,
+          "value": 0.973907,
           "unit": null
         }
       },
@@ -346,7 +346,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.957,
+      "duration": 7.041,
       "message": "",
       "metrics": {
         "display_color_asset_root": {
@@ -374,7 +374,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 0.408,
+          "value": 0.413,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -382,11 +382,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 81.55,
+          "value": 82.55,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.209,
+          "value": 0.193,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -402,23 +402,23 @@
           "unit": null
         },
         "display_color_silhouette_pixels": {
-          "value": 56685,
+          "value": 56683,
           "unit": null
         },
         "display_color_whole_frame_delta_pixels": {
-          "value": 57075,
+          "value": 57081,
           "unit": null
         },
         "display_color_read_mean_rgb": {
           "value": [
             0.0719,
-            0.072,
+            0.0721,
             0.0715
           ],
           "unit": null
         },
         "display_color_control_ratio": {
-          "value": 0.001394,
+          "value": 0.001288,
           "unit": null
         },
         "display_color_response_ratio": {
@@ -426,7 +426,7 @@
           "unit": null
         },
         "display_color_opacity_ratio": {
-          "value": 0.973908,
+          "value": 0.97396,
           "unit": null
         }
       },
@@ -504,7 +504,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 16.434,
+      "duration": 16.401,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -520,7 +520,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 3.507,
+          "value": 3.436,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -528,11 +528,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 85.55,
+          "value": 83.81,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.768,
+          "value": 0.741,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -630,7 +630,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 69.39,
+      "duration": 70.396,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -646,7 +646,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 12.515,
+          "value": 12.322,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -654,11 +654,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 92.7,
+          "value": 91.28,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.043,
+          "value": 2.156,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -690,7 +690,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 123.983,
+      "duration": 123.469,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -706,7 +706,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 27.661,
+          "value": 27.253,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -714,11 +714,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 82.32,
+          "value": 81.11,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 4.804,
+          "value": 4.699,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -746,73 +746,7 @@
           "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": "effort_limit",
@@ -820,7 +754,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 196.955,
+      "duration": 198.698,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -836,7 +770,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 31.73,
+          "value": 31.637,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -844,11 +778,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 94.43,
+          "value": 94.16,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 5.184,
+          "value": 5.01,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -884,7 +818,7 @@
       "engine_version": "6.1.0.0",
       "status": "fail",
       "passed": false,
-      "duration": 280.119,
+      "duration": 279.187,
       "message": "FRS: 2/14 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 +842,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 34.285,
+          "value": 33.605,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -916,11 +850,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 81.63,
+          "value": 80.01,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 6.056,
+          "value": 5.933,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1018,7 +952,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 399.641,
+      "duration": 403.633,
       "message": "",
       "metrics": {
         "frs_total_dofs": {
@@ -1042,7 +976,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 38.729,
+          "value": 39.243,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1050,11 +984,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 92.21,
+          "value": 93.44,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 6.094,
+          "value": 6.246,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1086,7 +1020,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.08,
+      "duration": 0.068,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "ground_drop_skipped": {
@@ -1102,7 +1036,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.072,
+      "duration": 0.06,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "ground_drop_skipped": {
@@ -1118,7 +1052,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 1.279,
+      "duration": 1.253,
       "message": "IK Target Reach phase cannot run: no Lula kinematics descriptor matched this asset.\n\n  Found:    asset_path='./assets/fr3_duo/simready_usd/fr3_duo.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": []
@@ -1129,7 +1063,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 2.624,
+      "duration": 1.992,
       "message": "IK Target Reach phase cannot run: no Lula kinematics descriptor matched this asset.\n\n  Found:    asset_path='./assets/fr3_duo/simready_usd/fr3_duo.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": []
@@ -1140,7 +1074,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 113.774,
+      "duration": 116.98,
       "message": "",
       "metrics": {
         "jik_robot_reach": {
@@ -1180,7 +1114,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 5.068,
+          "value": 5.104,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1188,11 +1122,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 84.46,
+          "value": 85.07,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.075,
+          "value": 1.059,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1268,73 +1202,7 @@
           "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": "jacobian_ik",
@@ -1342,7 +1210,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 300.622,
+      "duration": 302.665,
       "message": "",
       "metrics": {
         "jik_robot_reach": {
@@ -1382,7 +1250,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 15.123,
+          "value": 15.055,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1390,11 +1258,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 88.96,
+          "value": 88.56,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.536,
+          "value": 2.503,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1478,11 +1346,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 48.024,
+      "duration": 44.186,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 5.866,
+          "value": 5.761,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1490,11 +1358,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 130.36,
+          "value": 128.02,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.847,
+          "value": 0.833,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1810,11 +1678,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 30.71,
+      "duration": 28.692,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 5.243,
+          "value": 4.853,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1822,11 +1690,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 116.52,
+          "value": 107.84,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.822,
+          "value": 0.804,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2142,11 +2010,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.404,
+      "duration": 6.514,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.178,
+          "value": 2.064,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2154,11 +2022,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 72.59,
+          "value": 68.81,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.486,
+          "value": 0.485,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2202,11 +2070,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.771712,
+          "value": 0.771507,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.010601,
+          "value": 0.011165,
           "unit": null
         }
       },
@@ -2284,11 +2152,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.472,
+      "duration": 6.313,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.139,
+          "value": 2.083,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2296,11 +2164,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 71.31,
+          "value": 69.42,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.507,
+          "value": 0.509,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2316,7 +2184,7 @@
           "unit": null
         },
         "light_response_variation_ratio": {
-          "value": 0.482759,
+          "value": 0.551724,
           "unit": null
         },
         "light_response_blank_ratio": {
@@ -2336,7 +2204,7 @@
           "unit": null
         },
         "light_response_different_pairs": {
-          "value": 14,
+          "value": 16,
           "unit": null
         },
         "light_response_passed": {
@@ -2344,11 +2212,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.771008,
+          "value": 0.77047,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.010984,
+          "value": 0.010619,
           "unit": null
         }
       },
@@ -2426,7 +2294,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 1.309,
+      "duration": 1.266,
       "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": {
@@ -2442,7 +2310,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 3.694,
+      "duration": 3.632,
       "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": {
@@ -2458,7 +2326,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 36.752,
+      "duration": 36.87,
       "message": "",
       "metrics": {
         "mjc_total_joints": {
@@ -2474,7 +2342,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 7.242,
+          "value": 7.156,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2482,11 +2350,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 84.21,
+          "value": 83.21,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.396,
+          "value": 1.377,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2584,7 +2452,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 45.614,
+      "duration": 45.274,
       "message": "",
       "metrics": {
         "mjc_total_joints": {
@@ -2600,7 +2468,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 8.044,
+          "value": 8.01,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2608,11 +2476,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 88.4,
+          "value": 88.02,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.448,
+          "value": 1.484,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2644,11 +2512,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 2.833,
+      "duration": 2.797,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.563,
+          "value": 0.568,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2656,11 +2524,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 70.33,
+          "value": 71.03,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.243,
+          "value": 0.232,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2676,11 +2544,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.001099,
+          "value": 0.000879,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.00656,
+          "value": 0.006008,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -2766,11 +2634,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 2.88,
+      "duration": 2.762,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.574,
+          "value": 0.583,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2778,11 +2646,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 71.69,
+          "value": 72.82,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.266,
+          "value": 0.242,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2798,11 +2666,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.000939,
+          "value": 0.000818,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.004787,
+          "value": 0.005875,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -2888,11 +2756,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 5.912,
+      "duration": 5.378,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.712,
+          "value": 1.64,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2900,11 +2768,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 85.61,
+          "value": 82.01,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.553,
+          "value": 0.576,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3022,11 +2890,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 5.446,
+      "duration": 5.271,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.708,
+          "value": 1.718,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3034,11 +2902,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 85.39,
+          "value": 85.92,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.556,
+          "value": 0.55,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3156,11 +3024,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.808,
+      "duration": 1.895,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.121,
+          "value": 0.117,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3168,7 +3036,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 60.54,
+          "value": 58.6,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -3188,7 +3056,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.054126,
+          "value": 0.054118,
           "unit": null
         },
         "presence_passed": {
@@ -3270,11 +3138,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.41,
+      "duration": 1.456,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.13,
+          "value": 0.11,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3282,7 +3150,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 64.91,
+          "value": 54.83,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -3302,7 +3170,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.054141,
+          "value": 0.054124,
           "unit": null
         },
         "presence_passed": {
@@ -3318,11 +3186,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.684,
+      "duration": 1.812,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.476,
+          "value": 0.504,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3330,7 +3198,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 119.06,
+          "value": 125.98,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -3378,7 +3246,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 56547,
+          "value": 56541,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -3464,11 +3332,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 2.007,
+      "duration": 1.902,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.517,
+          "value": 0.601,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3476,7 +3344,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 129.32,
+          "value": 150.15,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -3524,7 +3392,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 56543,
+          "value": 56541,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -3626,7 +3494,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.093,
+      "duration": 0.08,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "slope_drop_skipped": {
@@ -3642,7 +3510,7 @@
       "engine_version": "6.1.0.0",
       "status": "fail",
       "passed": false,
-      "duration": 120.007,
+      "duration": 126.778,
       "message": "STA: 4/14 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": {
@@ -3662,7 +3530,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 30.102,
+          "value": 30.009,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3670,11 +3538,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 80.27,
+          "value": 80.02,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 5.146,
+          "value": 5.235,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3706,7 +3574,73 @@
           "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": "velocity_limit",
@@ -3714,7 +3648,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 20.893,
+      "duration": 22.306,
       "message": "",
       "metrics": {
         "vel_joints_with_limits": {
@@ -3722,7 +3656,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 4.781,
+          "value": 4.924,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3730,11 +3664,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 83.87,
+          "value": 86.39,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.005,
+          "value": 1.002,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3758,7 +3692,73 @@
           "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": "velocity_limit",
@@ -3766,7 +3766,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 154.956,
+      "duration": 154.213,
       "message": "",
       "metrics": {
         "vel_joints_with_limits": {
@@ -3774,7 +3774,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 29.461,
+          "value": 29.128,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3782,11 +3782,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 86.65,
+          "value": 85.67,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 4.825,
+          "value": 4.718,
           "unit": null
         },
         "_timing_encode_video_count": {

fr3_duo/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "4be5de87a79ed8a592689a2a9b75a96cad25fb28977ba04490688f508176077f"
+        "sha256": "c578a5f1f2b123fecaa8630372cd19781157d46f91ce91dc5007fe63fab23276"
       }
     },
     {
@@ -26,6 +26,6 @@
     "sha256": "0468bf16232b6d8c49e4c30c58a6fb8a850100af0a8e2884f22273f12ec6508d"
   },
   "package_hash": {
-    "sha256": "628eef2ee3e9be8a1f7bd3da4bb54df9c5cffdfc099859bf9a876ff852a853c0"
+    "sha256": "6aff3088ef34eece331429e9eb7339e2d7eeefbe2482942c73b6d62a7fada34f"
   }
 }