Add SimReady package: mobile_fr3_duo_v0_2

mobile_fr3_duo_v0_2/.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": "2026-10-11T17:02:20",
+  "timestamp": "2026-10-11T19:11:34",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

mobile_fr3_duo_v0_2/.metadata/com.nvidia.simready.packaging.bom.json

@@ -76,18 +76,18 @@
     },
     {
       "relative_path": "simready_usd/runnables/physics/mujoco.usda",
-      "size": 154191,
+      "size": 155549,
       "hash": {
-        "sha256-flat-1mb": "0efaa5e334b47fb101d9b854cbad795e806dd661c423bfe9bd1940df23cc4d1b",
-        "sha256": "3985975efcacbf210df7db8922d509d31fa4128db52d22ad4b5349f9820f161b"
+        "sha256-flat-1mb": "cc78f573b59bbce3b0c43d64ad8ce717552632adff0647ed98dc9eebb15ae0b6",
+        "sha256": "9f1062a22a086f14e1a1dbb81d1fb635f6f71e6b231c13bfa8402a32f560ecae"
       }
     },
     {
       "relative_path": "simready_usd/runnables/physics/newton.usda",
-      "size": 17749,
+      "size": 20055,
       "hash": {
-        "sha256-flat-1mb": "16384ab3ef1dc05fde62d3f0c321b0d18cd0d8491a646ad7e1fe99c8f0057b2f",
-        "sha256": "bd73fc3ae55cd5f3a8b69addfb3d2edaf09c973d739f9d3695fa035bd744ef88"
+        "sha256-flat-1mb": "e4c52cfbef0802a026a5e9746889800c9dc154267a84018caaaecf678b7a494e",
+        "sha256": "1c74f711dc311435e9dcc9ef3e192d9a2a10b1e7916a0a2a5aeba58330c3a991"
       }
     },
     {

mobile_fr3_duo_v0_2/com.nvidia.simready.packaging.json

@@ -6,13 +6,13 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "9ca8dad1542bf75854f67f17b5c3de3099d7853b634ca0bd8d7da1d78e7a84cf"
+        "sha256": "e165a030941476dfba4e513cf623b79924d031f49182c10a88a5ba7ca890b0d7"
       }
     },
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "0d6d01699bbbe947dcef639db4ccaeda5d0b2f338ca703a9231ceafffa215ab5"
+        "sha256": "a2f3bae1c43bb2e15cba8a999c399d38e5ea84d31cdb580862f29eec21aa85ab"
       }
     },
     {
@@ -23,9 +23,9 @@
     }
   ],
   "content_hash": {
-    "sha256": "75d9cc1c88283733490857670206ffd5bb43a8f9e9f50c78fec555b634b0d488"
+    "sha256": "5624188734afe30bb8c9187e7f061dc530eaa500227d5e3fd9918f53f6c9dea5"
   },
   "package_hash": {
-    "sha256": "efc9bbcb8b267e0d235e84c9a7fb8322db203cca300153c774ccbf467ffbf404"
+    "sha256": "92bfe676dd6765b614c9855a0a4aa80024daea278d16fbe6658fd32abe0818ba"
   }
 }

mobile_fr3_duo_v0_2/simready_usd/runnables/physics/mujoco.usda

@@ -338,8 +338,10 @@ over "mobile_fr3_duo_v0_2"
 
         over "left_fr3v2_1_joint1" (
             delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
         )
         {
+            uniform double mjc:armature = 0.195
             custom float mjc:frictionloss = 0.2
 
             over "position_based_velocity_limits"
@@ -349,8 +351,10 @@ over "mobile_fr3_duo_v0_2"
 
         over "left_fr3v2_1_joint2" (
             delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
         )
         {
+            uniform double mjc:armature = 0.195
             custom float mjc:frictionloss = 0.2
 
             over "position_based_velocity_limits"
@@ -360,8 +364,10 @@ over "mobile_fr3_duo_v0_2"
 
         over "left_fr3v2_1_joint3" (
             delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
         )
         {
+            uniform double mjc:armature = 0.195
             custom float mjc:frictionloss = 0.2
 
             over "position_based_velocity_limits"
@@ -371,8 +377,10 @@ over "mobile_fr3_duo_v0_2"
 
         over "left_fr3v2_1_joint4" (
             delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
         )
         {
+            uniform double mjc:armature = 0.195
             custom float mjc:frictionloss = 0.2
 
             over "position_based_velocity_limits"
@@ -382,8 +390,10 @@ over "mobile_fr3_duo_v0_2"
 
         over "left_fr3v2_1_joint5" (
             delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
         )
         {
+            uniform double mjc:armature = 0.195
             custom float mjc:frictionloss = 0.2
 
             over "position_based_velocity_limits"
@@ -393,8 +403,10 @@ over "mobile_fr3_duo_v0_2"
 
         over "left_fr3v2_1_joint6" (
             delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
         )
         {
+            uniform double mjc:armature = 0.195
             custom float mjc:frictionloss = 0.2
 
             over "position_based_velocity_limits"
@@ -404,8 +416,10 @@ over "mobile_fr3_duo_v0_2"
 
         over "left_fr3v2_1_joint7" (
             delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
         )
         {
+            uniform double mjc:armature = 0.195
             custom float mjc:frictionloss = 0.2
 
             over "position_based_velocity_limits"
@@ -415,8 +429,10 @@ over "mobile_fr3_duo_v0_2"
 
         over "right_fr3v2_1_joint1" (
             delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
         )
         {
+            uniform double mjc:armature = 0.195
             custom float mjc:frictionloss = 0.2
 
             over "position_based_velocity_limits"
@@ -426,8 +442,10 @@ over "mobile_fr3_duo_v0_2"
 
         over "right_fr3v2_1_joint2" (
             delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
         )
         {
+            uniform double mjc:armature = 0.195
             custom float mjc:frictionloss = 0.2
 
             over "position_based_velocity_limits"
@@ -437,8 +455,10 @@ over "mobile_fr3_duo_v0_2"
 
         over "right_fr3v2_1_joint3" (
             delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
         )
         {
+            uniform double mjc:armature = 0.195
             custom float mjc:frictionloss = 0.2
 
             over "position_based_velocity_limits"
@@ -448,8 +468,10 @@ over "mobile_fr3_duo_v0_2"
 
         over "right_fr3v2_1_joint4" (
             delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
         )
         {
+            uniform double mjc:armature = 0.195
             custom float mjc:frictionloss = 0.2
 
             over "position_based_velocity_limits"
@@ -459,8 +481,10 @@ over "mobile_fr3_duo_v0_2"
 
         over "right_fr3v2_1_joint5" (
             delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
         )
         {
+            uniform double mjc:armature = 0.195
             custom float mjc:frictionloss = 0.2
 
             over "position_based_velocity_limits"
@@ -470,8 +494,10 @@ over "mobile_fr3_duo_v0_2"
 
         over "right_fr3v2_1_joint6" (
             delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
         )
         {
+            uniform double mjc:armature = 0.195
             custom float mjc:frictionloss = 0.2
 
             over "position_based_velocity_limits"
@@ -481,8 +507,10 @@ over "mobile_fr3_duo_v0_2"
 
         over "right_fr3v2_1_joint7" (
             delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
         )
         {
+            uniform double mjc:armature = 0.195
             custom float mjc:frictionloss = 0.2
 
             over "position_based_velocity_limits"

mobile_fr3_duo_v0_2/simready_usd/runnables/physics/newton.usda

@@ -357,5 +357,106 @@ over "mobile_fr3_duo_v0_2"
             }
         }
     }
+
+    over "Physics"
+    {
+        over "left_fr3v2_1_joint1" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:armature = 0.195
+        }
+
+        over "left_fr3v2_1_joint2" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:armature = 0.195
+        }
+
+        over "left_fr3v2_1_joint3" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:armature = 0.195
+        }
+
+        over "left_fr3v2_1_joint4" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:armature = 0.195
+        }
+
+        over "left_fr3v2_1_joint5" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:armature = 0.195
+        }
+
+        over "left_fr3v2_1_joint6" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:armature = 0.195
+        }
+
+        over "left_fr3v2_1_joint7" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:armature = 0.195
+        }
+
+        over "right_fr3v2_1_joint1" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:armature = 0.195
+        }
+
+        over "right_fr3v2_1_joint2" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:armature = 0.195
+        }
+
+        over "right_fr3v2_1_joint3" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:armature = 0.195
+        }
+
+        over "right_fr3v2_1_joint4" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:armature = 0.195
+        }
+
+        over "right_fr3v2_1_joint5" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:armature = 0.195
+        }
+
+        over "right_fr3v2_1_joint6" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:armature = 0.195
+        }
+
+        over "right_fr3v2_1_joint7" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:armature = 0.195
+        }
+    }
 }