Add SimReady package: fr3v2_1

fr3v2_1/.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": "2026-10-10T17:43:02",
+  "timestamp": "2026-10-11T16:32:05",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

fr3v2_1/.metadata/com.nvidia.simready.packaging.bom.json

@@ -92,10 +92,10 @@
     },
     {
       "relative_path": "simready_usd/runnables/physics/physx.usda",
-      "size": 2237,
+      "size": 2559,
       "hash": {
-        "sha256-flat-1mb": "7d763e0152aeaf03c859defbac085d03514aac35951614aa6d73484a1ae39a31",
-        "sha256": "79cb5db06d70e7dd5ddcbebca45e475d0bcdf9e733847e4d8d91a2a897f24040"
+        "sha256-flat-1mb": "eb9d6c5d6d597df93c0d3f76b59dcd584f58cc9a3f6b363573d2e41c77a53df5",
+        "sha256": "68060d232b9edc039b0e2e0de109cfcb5c13438799160c088a844f1beb7baf31"
       }
     }
   ]

fr3v2_1/.metadata/fr3v2_1_benchmark.json

@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0",
   "asset": "fr3v2_1",
-  "run_timestamp": "2026-10-10T17:43:01Z",
+  "run_timestamp": "2026-10-11T16:32:04Z",
   "passed": false,
   "results": [
     {
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.976,
+      "duration": 3.82,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.193,
+          "value": 1.116,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 74.58,
+          "value": 69.75,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.602,
+          "value": 0.609,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -42,15 +42,15 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 1.4e-05,
+          "value": 9.2e-05,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 3e-06,
+          "value": 1.7e-05,
           "unit": null
         },
         "culling_xz_worst_angle": {
-          "value": 45.0,
+          "value": 315.0,
           "unit": null
         },
         "culling_xz_passed": {
@@ -58,7 +58,73 @@
           "unit": null
         }
       },
-      "kit_logs": []
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
     },
     {
       "test_name": "culling_xz",
@@ -66,7 +132,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.654,
+      "duration": 4.805,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
@@ -78,11 +144,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 65.93,
+          "value": 65.91,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.672,
+          "value": 0.605,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -98,15 +164,15 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.0,
+          "value": 1.4e-05,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 0.0,
+          "value": 3e-06,
           "unit": null
         },
         "culling_xz_worst_angle": {
-          "value": 0.0,
+          "value": 45.0,
           "unit": null
         },
         "culling_xz_passed": {
@@ -114,7 +180,73 @@
           "unit": null
         }
       },
-      "kit_logs": []
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
     },
     {
       "test_name": "display_color_response",
@@ -122,7 +254,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.239,
+      "duration": 6.013,
       "message": "",
       "metrics": {
         "display_color_asset_root": {
@@ -150,7 +282,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 0.455,
+          "value": 0.399,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -158,11 +290,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 91.06,
+          "value": 79.86,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.271,
+          "value": 0.261,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -178,11 +310,11 @@
           "unit": null
         },
         "display_color_silhouette_pixels": {
-          "value": 107249,
+          "value": 107238,
           "unit": null
         },
         "display_color_whole_frame_delta_pixels": {
-          "value": 107827,
+          "value": 107802,
           "unit": null
         },
         "display_color_read_mean_rgb": {
@@ -194,7 +326,7 @@
           "unit": null
         },
         "display_color_control_ratio": {
-          "value": 0.000932,
+          "value": 0.0011,
           "unit": null
         },
         "display_color_response_ratio": {
@@ -202,7 +334,7 @@
           "unit": null
         },
         "display_color_opacity_ratio": {
-          "value": 0.977007,
+          "value": 0.976967,
           "unit": null
         }
       },
@@ -280,7 +412,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.745,
+      "duration": 6.562,
       "message": "",
       "metrics": {
         "display_color_asset_root": {
@@ -308,7 +440,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 0.506,
+          "value": 0.495,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -316,11 +448,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 101.23,
+          "value": 99.01,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.242,
+          "value": 0.249,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -336,11 +468,11 @@
           "unit": null
         },
         "display_color_silhouette_pixels": {
-          "value": 107240,
+          "value": 107232,
           "unit": null
         },
         "display_color_whole_frame_delta_pixels": {
-          "value": 107818,
+          "value": 107809,
           "unit": null
         },
         "display_color_read_mean_rgb": {
@@ -352,7 +484,7 @@
           "unit": null
         },
         "display_color_control_ratio": {
-          "value": 0.000699,
+          "value": 0.0011,
           "unit": null
         },
         "display_color_response_ratio": {
@@ -360,7 +492,7 @@
           "unit": null
         },
         "display_color_opacity_ratio": {
-          "value": 0.977005,
+          "value": 0.976947,
           "unit": null
         }
       },
@@ -438,7 +570,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 7.496,
+      "duration": 7.374,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -454,7 +586,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 1.792,
+          "value": 1.76,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -462,11 +594,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 89.58,
+          "value": 88.02,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.484,
+          "value": 0.491,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -490,7 +622,73 @@
           "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": "drive_gain_validation",
@@ -498,7 +696,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 34.862,
+      "duration": 34.705,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -514,7 +712,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 6.386,
+          "value": 6.369,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -522,11 +720,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 91.23,
+          "value": 90.98,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.192,
+          "value": 1.231,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -558,7 +756,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 53.609,
+      "duration": 53.777,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -574,7 +772,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 13.661,
+          "value": 13.732,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -582,11 +780,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 81.32,
+          "value": 81.74,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.556,
+          "value": 2.589,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -622,7 +820,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 104.464,
+      "duration": 101.568,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -638,7 +836,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 16.196,
+          "value": 15.84,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -646,11 +844,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 96.41,
+          "value": 94.28,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.736,
+          "value": 2.553,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -686,7 +884,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 108.628,
+      "duration": 104.814,
       "message": "",
       "metrics": {
         "frs_total_dofs": {
@@ -706,11 +904,11 @@
           "unit": null
         },
         "frs_bbox_baseline_volume": {
-          "value": 0.13625961469859418,
+          "value": 0.13629405317339752,
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 16.65,
+          "value": 16.929,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -718,11 +916,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 79.28,
+          "value": 80.61,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 3.139,
+          "value": 3.159,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -820,7 +1018,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 200.14,
+      "duration": 194.46,
       "message": "",
       "metrics": {
         "frs_total_dofs": {
@@ -844,7 +1042,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 19.426,
+          "value": 19.159,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -852,11 +1050,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 92.5,
+          "value": 91.23,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 3.214,
+          "value": 3.2,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -888,7 +1086,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.067,
+      "duration": 0.063,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "ground_drop_skipped": {
@@ -904,7 +1102,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.065,
+      "duration": 0.066,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "ground_drop_skipped": {
@@ -920,7 +1118,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.897,
+      "duration": 0.866,
       "message": "IK Target Reach phase cannot run: no Lula kinematics descriptor matched this asset.\n\n  Found:    asset_path='./assets/fr3v2_1/simready_usd/fr3v2_1.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": []
@@ -931,7 +1129,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 1.022,
+      "duration": 1.102,
       "message": "IK Target Reach phase cannot run: no Lula kinematics descriptor matched this asset.\n\n  Found:    asset_path='./assets/fr3v2_1/simready_usd/fr3v2_1.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": []
@@ -942,11 +1140,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 76.849,
+      "duration": 73.775,
       "message": "",
       "metrics": {
         "jik_robot_reach": {
-          "value": 0.5305,
+          "value": 0.5306,
           "unit": null
         },
         "jik_target_radius": {
@@ -966,7 +1164,7 @@
           "unit": null
         },
         "jik_max_observed_reach": {
-          "value": 0.9031,
+          "value": 0.9033,
           "unit": null
         },
         "jik_distinct_reachable_targets": {
@@ -974,27 +1172,27 @@
           "unit": null
         },
         "jik_bbox_baseline_volume": {
-          "value": 0.135958,
+          "value": 0.135979,
           "unit": null
         },
         "jik_total_iterations": {
-          "value": 646,
+          "value": 767,
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 3.912,
+          "value": 2.635,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 45,
+          "value": 30,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 86.92,
+          "value": 87.82,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.908,
+          "value": 0.647,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1014,11 +1212,11 @@
           "unit": null
         },
         "jik_targets_reached": {
-          "value": 3,
+          "value": 2,
           "unit": null
         },
         "jik_targets_total_passed": {
-          "value": 5,
+          "value": 4,
           "unit": null
         },
         "jik_targets_in_reach": {
@@ -1030,15 +1228,15 @@
           "unit": null
         },
         "jik_in_reach_failed": {
-          "value": 2,
+          "value": 3,
           "unit": null
         },
         "jik_in_reach_passed_green": {
-          "value": 3,
+          "value": 2,
           "unit": null
         },
         "jik_in_reach_solver_failed_red": {
-          "value": 2,
+          "value": 3,
           "unit": null
         },
         "jik_in_reach_motion_failed_orange": {
@@ -1054,15 +1252,15 @@
           "unit": null
         },
         "jik_max_position_error_m": {
-          "value": 0.413078,
+          "value": 0.416359,
           "unit": null
         },
         "jik_max_orientation_error_deg": {
-          "value": 49.2467,
+          "value": 82.4387,
           "unit": null
         },
         "jik_pass_rate": {
-          "value": 0.6,
+          "value": 0.4,
           "unit": null
         },
         "jik_ee_link": {
@@ -1070,90 +1268,24 @@
           "unit": null
         }
       },
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: Traceback (most recent call last):"
+      "kit_logs": []
+    },
+    {
+      "test_name": "jacobian_ik",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 295.947,
+      "message": "",
+      "metrics": {
+        "jik_robot_reach": {
+          "value": 0.5315,
+          "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"
-        },
-        {
-          "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": "jacobian_ik",
-      "engine": "isaac_sim_newton",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 299.247,
-      "message": "",
-      "metrics": {
-        "jik_robot_reach": {
-          "value": 0.5315,
-          "unit": null
-        },
-        "jik_target_radius": {
-          "value": 0.4784,
-          "unit": null
+        "jik_target_radius": {
+          "value": 0.4784,
+          "unit": null
         },
         "jik_base_position_x": {
           "value": 0.0,
@@ -1184,7 +1316,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 6.103,
+          "value": 6.096,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1192,11 +1324,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 89.75,
+          "value": 89.65,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.196,
+          "value": 1.187,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1280,11 +1412,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 31.231,
+      "duration": 31.26,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 5.183,
+          "value": 5.25,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1292,11 +1424,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 115.18,
+          "value": 116.66,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.875,
+          "value": 0.873,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1328,7 +1460,7 @@
           "unit": null
         },
         "jm_joint_fr3v2_1_joint2_rot_deg": {
-          "value": 167.686,
+          "value": 166.851,
           "unit": null
         },
         "jm_joint_fr3v2_1_joint2_trans_pct": {
@@ -1344,7 +1476,7 @@
           "unit": null
         },
         "jm_joint_fr3v2_1_joint3_rot_deg": {
-          "value": 179.936,
+          "value": 179.888,
           "unit": null
         },
         "jm_joint_fr3v2_1_joint3_trans_pct": {
@@ -1360,7 +1492,7 @@
           "unit": null
         },
         "jm_joint_fr3v2_1_joint4_rot_deg": {
-          "value": 179.806,
+          "value": 179.842,
           "unit": null
         },
         "jm_joint_fr3v2_1_joint4_trans_pct": {
@@ -1376,11 +1508,11 @@
           "unit": null
         },
         "jm_joint_fr3v2_1_joint5_rot_deg": {
-          "value": 179.986,
+          "value": 179.997,
           "unit": null
         },
         "jm_joint_fr3v2_1_joint5_trans_pct": {
-          "value": 246.57,
+          "value": 251.45,
           "unit": null
         },
         "jm_joint_fr3v2_1_joint5_bbox_m": {
@@ -1392,11 +1524,11 @@
           "unit": null
         },
         "jm_joint_fr3v2_1_joint6_rot_deg": {
-          "value": 164.703,
+          "value": 165.867,
           "unit": null
         },
         "jm_joint_fr3v2_1_joint6_trans_pct": {
-          "value": 396.42,
+          "value": 407.43,
           "unit": null
         },
         "jm_joint_fr3v2_1_joint6_bbox_m": {
@@ -1404,15 +1536,15 @@
           "unit": null
         },
         "jm_joint_fr3v2_1_joint6_pct_of_travel": {
-          "value": 62.2,
+          "value": 62.6,
           "unit": null
         },
         "jm_joint_fr3v2_1_joint7_rot_deg": {
-          "value": 179.953,
+          "value": 162.015,
           "unit": null
         },
         "jm_joint_fr3v2_1_joint7_trans_pct": {
-          "value": 502.03,
+          "value": 430.0,
           "unit": null
         },
         "jm_joint_fr3v2_1_joint7_bbox_m": {
@@ -1420,7 +1552,7 @@
           "unit": null
         },
         "jm_joint_fr3v2_1_joint7_pct_of_travel": {
-          "value": 100.0,
+          "value": 92.7,
           "unit": null
         },
         "jm_joints_total": {
@@ -1472,11 +1604,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 38.192,
+      "duration": 37.916,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.997,
+          "value": 4.892,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1484,11 +1616,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 111.05,
+          "value": 108.71,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.841,
+          "value": 0.872,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1656,73 +1788,7 @@
           "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",
@@ -1730,11 +1796,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 5.939,
+      "duration": 6.152,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.11,
+          "value": 2.119,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1742,11 +1808,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 70.35,
+          "value": 70.62,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.559,
+          "value": 0.584,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1762,7 +1828,7 @@
           "unit": null
         },
         "light_response_variation_ratio": {
-          "value": 0.586207,
+          "value": 0.62069,
           "unit": null
         },
         "light_response_blank_ratio": {
@@ -1782,7 +1848,7 @@
           "unit": null
         },
         "light_response_different_pairs": {
-          "value": 17,
+          "value": 18,
           "unit": null
         },
         "light_response_passed": {
@@ -1790,11 +1856,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.747399,
+          "value": 0.746185,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.020287,
+          "value": 0.021289,
           "unit": null
         }
       },
@@ -1872,11 +1938,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.001,
+      "duration": 5.865,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.002,
+          "value": 2.029,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1884,11 +1950,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 66.74,
+          "value": 67.62,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.59,
+          "value": 0.576,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1904,7 +1970,7 @@
           "unit": null
         },
         "light_response_variation_ratio": {
-          "value": 0.655172,
+          "value": 0.62069,
           "unit": null
         },
         "light_response_blank_ratio": {
@@ -1924,7 +1990,7 @@
           "unit": null
         },
         "light_response_different_pairs": {
-          "value": 19,
+          "value": 18,
           "unit": null
         },
         "light_response_passed": {
@@ -1932,15 +1998,81 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.745356,
+          "value": 0.74471,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.019357,
+          "value": 0.022287,
           "unit": null
         }
       },
-      "kit_logs": []
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
     },
     {
       "test_name": "mimic_joint",
@@ -1948,7 +2080,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.902,
+      "duration": 0.882,
       "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": {
@@ -1964,7 +2096,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 3.241,
+      "duration": 3.298,
       "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": {
@@ -1980,7 +2112,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 29.238,
+      "duration": 27.988,
       "message": "",
       "metrics": {
         "mjc_total_joints": {
@@ -1996,19 +2128,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 7.27,
+          "value": 7.115,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 86,
+          "value": 85,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 84.53,
+          "value": 83.71,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.438,
+          "value": 1.429,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2106,7 +2238,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 41.341,
+      "duration": 41.301,
       "message": "",
       "metrics": {
         "mjc_total_joints": {
@@ -2122,7 +2254,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 7.92,
+          "value": 7.938,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2130,11 +2262,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 87.03,
+          "value": 87.23,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.525,
+          "value": 1.519,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2166,11 +2298,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 2.157,
+      "duration": 2.171,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.657,
+          "value": 0.538,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2178,11 +2310,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 82.14,
+          "value": 67.19,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.269,
+          "value": 0.27,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2198,11 +2330,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.0,
+          "value": 2e-06,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.0,
+          "value": 1.6e-05,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -2214,7 +2346,73 @@
           "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": "normals_xz",
@@ -2222,11 +2420,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 2.192,
+      "duration": 2.024,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.496,
+          "value": 0.502,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2234,11 +2432,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 61.99,
+          "value": 62.8,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.273,
+          "value": 0.282,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2254,11 +2452,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.0,
+          "value": 2e-06,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.0,
+          "value": 1.3e-05,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -2344,11 +2542,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.659,
+      "duration": 4.583,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.767,
+          "value": 1.783,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2356,11 +2554,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 88.33,
+          "value": 89.13,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.652,
+          "value": 0.664,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2412,11 +2610,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.851,
+      "duration": 4.999,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.604,
+          "value": 1.705,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2424,11 +2622,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 80.19,
+          "value": 85.23,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.644,
+          "value": 0.684,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2546,7 +2744,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 0.868,
+      "duration": 0.794,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
@@ -2558,7 +2756,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 57.47,
+          "value": 57.27,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2578,7 +2776,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.102363,
+          "value": 0.102358,
           "unit": null
         },
         "presence_passed": {
@@ -2660,11 +2858,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 0.949,
+      "duration": 0.825,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.121,
+          "value": 0.117,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2672,7 +2870,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 60.3,
+          "value": 58.56,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2692,7 +2890,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.102343,
+          "value": 0.102377,
           "unit": null
         },
         "presence_passed": {
@@ -2700,7 +2898,73 @@
           "unit": null
         }
       },
-      "kit_logs": []
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
     },
     {
       "test_name": "preview_surface_renders",
@@ -2708,11 +2972,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.71,
+      "duration": 1.676,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.494,
+          "value": 0.503,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2720,7 +2984,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 123.42,
+          "value": 125.82,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2768,7 +3032,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 106893,
+          "value": 106899,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2854,11 +3118,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.951,
+      "duration": 1.805,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.526,
+          "value": 0.551,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2866,7 +3130,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 131.58,
+          "value": 137.78,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2914,7 +3178,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 106903,
+          "value": 106863,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2926,7 +3190,73 @@
           "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": "slope_drop",
@@ -2934,7 +3264,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.074,
+      "duration": 0.075,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "slope_drop_skipped": {
@@ -2950,7 +3280,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.072,
+      "duration": 0.081,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "slope_drop_skipped": {
@@ -2966,7 +3296,7 @@
       "engine_version": "6.1.0.0",
       "status": "fail",
       "passed": false,
-      "duration": 65.062,
+      "duration": 49.266,
       "message": "STA: 2/7 joints failed state accuracy.\n\nFAILING JOINTS: fr3v2_1_joint4, 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": {
@@ -2986,19 +3316,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 20.507,
+          "value": 15.198,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 260,
+          "value": 190,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 78.87,
+          "value": 79.99,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 3.79,
+          "value": 2.777,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3026,11 +3356,77 @@
           "unit": null
         },
         "sta_max_position_error_deg": {
-          "value": 25.19997952766746,
+          "value": 25.199981235214754,
           "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": "state_accuracy",
@@ -3038,7 +3434,7 @@
       "engine_version": "6.1.0.0",
       "status": "fail",
       "passed": false,
-      "duration": 189.819,
+      "duration": 189.614,
       "message": "STA: 1/7 joints failed state accuracy.\n\nFAILING JOINTS: 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": {
@@ -3058,7 +3454,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 39.346,
+          "value": 39.254,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3066,11 +3462,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 84.98,
+          "value": 84.78,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 6.541,
+          "value": 6.446,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3110,7 +3506,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 9.049,
+      "duration": 10.259,
       "message": "",
       "metrics": {
         "vel_joints_with_limits": {
@@ -3118,19 +3514,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 2.355,
+          "value": 2.567,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 28,
+          "value": 29,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 84.12,
+          "value": 88.5,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.628,
+          "value": 0.627,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3162,7 +3558,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 73.383,
+      "duration": 72.732,
       "message": "",
       "metrics": {
         "vel_joints_with_limits": {
@@ -3170,7 +3566,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 14.942,
+          "value": 15.005,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3178,11 +3574,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 89.47,
+          "value": 89.85,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.646,
+          "value": 2.485,
           "unit": null
         },
         "_timing_encode_video_count": {

fr3v2_1/com.nvidia.simready.packaging.json

@@ -1,18 +1,18 @@
 {
   "format_version": "1.0",
-  "package_id": "simready.hf.frankarobotics.simready-assets.fr3v2_1.2026.10.08_00",
+  "package_id": "simready.hf.frankarobotics.simready-assets.fr3v2_1.2026.10.11_00",
   "license": "cc-by-4.0",
   "metadata": [
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "63de44f568b4c44a1732763b9a31dac9272be8802bf360fc0890df98a3a4ce76"
+        "sha256": "9bdc3b3cabf05f2c4ed84427b4875711c8a230dbd12ba4167e9504c60167ba53"
       }
     },
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "4424a0d5f29dbc87ec36826bf586bdb6b12ea4118a422cfe913bb7026297af8b"
+        "sha256": "52de0dd868a2179528c80cf492b9bb60fe645cfc507df3947e55506a23246313"
       }
     },
     {
@@ -23,9 +23,9 @@
     }
   ],
   "content_hash": {
-    "sha256": "6e7094cf7d1aa1931a51ff10eae3512fddbad61e15be98ec81bdc0f14b8efb0e"
+    "sha256": "d55f8c424ab8dc06584a17aafa7e738004a86629751f601c99f9d953a8f996a2"
   },
   "package_hash": {
-    "sha256": "9d5e5310895f1cd6b6284165751d30d6750c6c5189b76f97b9585c148b546d96"
+    "sha256": "6717f953e73bf0184c9f16064269b9f1410bfe88c3c9049e9651df3d6ae3b519"
   }
 }

fr3v2_1/simready_usd/runnables/physics/physx.usda

@@ -28,6 +28,7 @@ over "fr3v2_1"
             prepend apiSchemas = ["PhysxJointAPI"]
         )
         {
+            float physxJoint:armature = 0.195
             float physxJoint:jointFriction = 0.2
             float physxJoint:maxJointVelocity = 150.11494
         }
@@ -36,6 +37,7 @@ over "fr3v2_1"
             prepend apiSchemas = ["PhysxJointAPI"]
         )
         {
+            float physxJoint:armature = 0.195
             float physxJoint:jointFriction = 0.2
             float physxJoint:maxJointVelocity = 150.11494
         }
@@ -44,6 +46,7 @@ over "fr3v2_1"
             prepend apiSchemas = ["PhysxJointAPI"]
         )
         {
+            float physxJoint:armature = 0.195
             float physxJoint:jointFriction = 0.2
             float physxJoint:maxJointVelocity = 150.11494
         }
@@ -52,6 +55,7 @@ over "fr3v2_1"
             prepend apiSchemas = ["PhysxJointAPI"]
         )
         {
+            float physxJoint:armature = 0.195
             float physxJoint:jointFriction = 0.2
             float physxJoint:maxJointVelocity = 150.11494
         }
@@ -60,6 +64,7 @@ over "fr3v2_1"
             prepend apiSchemas = ["PhysxJointAPI"]
         )
         {
+            float physxJoint:armature = 0.195
             float physxJoint:jointFriction = 0.2
             float physxJoint:maxJointVelocity = 301.37582
         }
@@ -68,6 +73,7 @@ over "fr3v2_1"
             prepend apiSchemas = ["PhysxJointAPI"]
         )
         {
+            float physxJoint:armature = 0.195
             float physxJoint:jointFriction = 0.2
             float physxJoint:maxJointVelocity = 239.49635
         }
@@ -76,6 +82,7 @@ over "fr3v2_1"
             prepend apiSchemas = ["PhysxJointAPI"]
         )
         {
+            float physxJoint:armature = 0.195
             float physxJoint:jointFriction = 0.2
             float physxJoint:maxJointVelocity = 301.37582
         }