Add SimReady package: erob110i_v6_brake_joint

erob110i_v6_brake_joint/.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": "2026-11-09T09:02:26",
+  "timestamp": "2026-11-09T09:20:37",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

erob110i_v6_brake_joint/.metadata/com.nvidia.simready.packaging.bom.json

@@ -11,35 +11,35 @@
     },
     {
       "relative_path": "simready_usd/.thumbs/256x256/erob110i_v6_brake_joint.usdc.png",
-      "size": 858710,
+      "size": 814717,
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-        "sha256": "ab7754a9e7ab75a0717a7bba4fe036e0669f7902482bd7782e4913a79fba6bdd"
+        "sha256-flat-1mb": "b8494ea498592bef2aea44507279c1bde0f263f5d000641b9ce81070410671d4",
+        "sha256": "ebb5d7c476046d4d42c063bf807d771440451009b15588fe04ff6c1b9ffe5618"
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     },
     {
       "relative_path": "simready_usd/.thumbs/256x256/erob110i_v6_brake_joint.usdc_light.png",
-      "size": 670801,
+      "size": 665192,
       "hash": {
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-        "sha256": "090a7bc42c7d1662ff5a461526023e80f6ea64f7e190829500f6c3a8bc4b37e0"
+        "sha256-flat-1mb": "796761645020bdc480fbb5a1275396b3d4caa8cc7a48b219fdb6979ef975371f",
+        "sha256": "ef17a898d5dc87f227bc33c1d602310b07f1f2717d38c7ace56be4ca2c1380fa"
       }
     },
     {
       "relative_path": "simready_usd/.thumbs/256x256/erob110i_v6_brake_joint.usdc_transparent.png",
-      "size": 631301,
+      "size": 632168,
       "hash": {
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-        "sha256": "e3672219b330238a9aee189fe92f4a7d989daa48a3c71da2bb3de4c9b4d29f8e"
+        "sha256-flat-1mb": "b9bea8308155aaeb293bc1797c6e16d52f0059012ecae5ef85982a4a15250b51",
+        "sha256": "a736073175b37fdc19afeaf748f5e2e07fb4f9065a76a1e41f6b8f7a49122c7d"
       }
     },
     {
       "relative_path": "simready_usd/erob110i_v6_brake_joint.usdc",
-      "size": 7990927,
+      "size": 8095593,
       "hash": {
-        "sha256-flat-1mb": "a5565879395ef1aee097bb691cf7aba62c321e0c00422e0d4e7822c750e02ddf",
-        "sha256": "c9fe959ef1310638e9f1654019fb82d8e92cc2334cd39bb5cb69e8818c8a6093",
-        "sha256-first1m": "e520cc2621edb588b4b204e9c314f58fa73c0c0fd07ad802a080cb413837b841"
+        "sha256-flat-1mb": "b8497e0436c25586b17e2b7a0ecd91e2da14d29e64916985107cbaa4930d886a",
+        "sha256": "97db05b9af04177aef0b96f9662138996d230678b5c151cc63315ab49870d039",
+        "sha256-first1m": "04df65d6f1bc665f02826960af2a171cd7bd56b034629ca870231f23672cf2d5"
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     }
   ]

erob110i_v6_brake_joint/.metadata/erob110i_v6_brake_joint_benchmark.json

@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0",
   "asset": "erob110i_v6_brake_joint",
-  "run_timestamp": "2026-11-09T09:02:25Z",
+  "run_timestamp": "2026-11-09T09:20:36Z",
   "passed": true,
   "results": [
     {
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.331,
+      "duration": 3.272,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
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         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
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         "_timing_capture_frame_avg_ms": {
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         "_timing_encode_video_total_s": {
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         "_timing_encode_video_count": {
@@ -42,15 +42,15 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 4.4e-05,
+          "value": 2.6e-05,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 1.6e-05,
+          "value": 8e-06,
           "unit": null
         },
         "culling_xz_worst_angle": {
-          "value": 0.0,
+          "value": 90.0,
           "unit": null
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         "culling_xz_passed": {
@@ -66,11 +66,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.324,
+      "duration": 4.23,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
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+          "value": 1.193,
           "unit": null
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         "_timing_capture_frame_count": {
@@ -78,11 +78,11 @@
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         "_timing_capture_frame_avg_ms": {
-          "value": 75.75,
+          "value": 74.56,
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         "_timing_encode_video_total_s": {
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+          "value": 0.632,
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         "_timing_encode_video_count": {
@@ -98,11 +98,11 @@
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         "culling_xz_max_diff": {
-          "value": 5.8e-05,
+          "value": 3.2e-05,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 1.1e-05,
+          "value": 6e-06,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -188,7 +188,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.87,
+      "duration": 6.811,
       "message": "",
       "metrics": {
         "display_color_asset_root": {
@@ -216,7 +216,7 @@
           "unit": null
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         "_timing_capture_frame_total_s": {
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+          "value": 0.534,
           "unit": null
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         "_timing_capture_frame_count": {
@@ -224,11 +224,11 @@
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         "_timing_capture_frame_avg_ms": {
-          "value": 103.52,
+          "value": 106.81,
           "unit": null
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         "_timing_encode_video_total_s": {
-          "value": 0.224,
+          "value": 0.243,
           "unit": null
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         "_timing_encode_video_count": {
@@ -244,23 +244,23 @@
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         "display_color_silhouette_pixels": {
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+          "value": 228357,
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         "display_color_whole_frame_delta_pixels": {
-          "value": 228712,
+          "value": 228710,
           "unit": null
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         "display_color_read_mean_rgb": {
           "value": [
-            0.1081,
-            0.1081,
-            0.1106
+            0.0977,
+            0.0976,
+            0.1002
           ],
           "unit": null
         },
         "display_color_control_ratio": {
-          "value": 0.000127,
+          "value": 5.3e-05,
           "unit": null
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         "display_color_response_ratio": {
@@ -268,7 +268,7 @@
           "unit": null
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         "display_color_opacity_ratio": {
-          "value": 0.998765,
+          "value": 0.998082,
           "unit": null
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       },
@@ -346,7 +346,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.545,
+      "duration": 6.582,
       "message": "",
       "metrics": {
         "display_color_asset_root": {
@@ -374,7 +374,7 @@
           "unit": null
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         "_timing_capture_frame_total_s": {
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+          "value": 0.518,
           "unit": null
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         "_timing_capture_frame_count": {
@@ -382,11 +382,11 @@
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         "_timing_capture_frame_avg_ms": {
-          "value": 98.21,
+          "value": 103.54,
           "unit": null
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         "_timing_encode_video_total_s": {
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+          "value": 0.218,
           "unit": null
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         "_timing_encode_video_count": {
@@ -402,23 +402,23 @@
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         "display_color_silhouette_pixels": {
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+          "value": 228383,
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         "display_color_whole_frame_delta_pixels": {
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         "display_color_read_mean_rgb": {
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-            0.108,
-            0.1106
+            0.0977,
+            0.0976,
+            0.1002
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         "display_color_control_ratio": {
-          "value": 0.000101,
+          "value": 2.6e-05,
           "unit": null
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         "display_color_response_ratio": {
@@ -426,7 +426,7 @@
           "unit": null
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         "display_color_opacity_ratio": {
-          "value": 0.998787,
+          "value": 0.998091,
           "unit": null
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       },
@@ -504,7 +504,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 14.786,
+      "duration": 14.553,
       "message": "",
       "metrics": {
         "ground_drop_initial_z_min": {
@@ -520,7 +520,7 @@
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         "_timing_capture_frame_total_s": {
-          "value": 4.946,
+          "value": 4.88,
           "unit": null
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         "_timing_capture_frame_count": {
@@ -528,11 +528,11 @@
           "unit": null
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         "_timing_capture_frame_avg_ms": {
-          "value": 120.64,
+          "value": 119.02,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.905,
+          "value": 0.971,
           "unit": null
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         "_timing_encode_video_count": {
@@ -580,7 +580,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 28.417,
+      "duration": 28.568,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
@@ -592,11 +592,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 141.54,
+          "value": 141.53,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.985,
+          "value": 1.001,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -620,7 +620,7 @@
           "unit": null
         },
         "jm_joint_revolute_joint_bbox_m": {
-          "value": 0.1216,
+          "value": 0.1213,
           "unit": null
         },
         "jm_joint_revolute_joint_pct_of_travel": {
@@ -644,7 +644,73 @@
           "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 \"<home>/simready-erob/.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 \"<home>/simready-erob/.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 \"<home>/simready-erob/.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 \"<home>/simready-erob/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
     },
     {
       "test_name": "light_response",
@@ -652,11 +718,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.388,
+      "duration": 6.648,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.468,
+          "value": 2.574,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -664,11 +730,11 @@
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         "_timing_capture_frame_avg_ms": {
-          "value": 82.28,
+          "value": 85.81,
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         "_timing_encode_video_total_s": {
-          "value": 0.59,
+          "value": 0.591,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -712,11 +778,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.666609,
+          "value": 0.667573,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.017508,
+          "value": 0.019489,
           "unit": null
         }
       },
@@ -794,11 +860,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.569,
+      "duration": 6.553,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.456,
+          "value": 2.482,
           "unit": null
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         "_timing_capture_frame_count": {
@@ -806,11 +872,11 @@
           "unit": null
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         "_timing_capture_frame_avg_ms": {
-          "value": 81.87,
+          "value": 82.73,
           "unit": null
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         "_timing_encode_video_total_s": {
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+          "value": 0.58,
           "unit": null
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         "_timing_encode_video_count": {
@@ -826,7 +892,7 @@
           "unit": null
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         "light_response_variation_ratio": {
-          "value": 0.689655,
+          "value": 0.724138,
           "unit": null
         },
         "light_response_blank_ratio": {
@@ -846,7 +912,7 @@
           "unit": null
         },
         "light_response_different_pairs": {
-          "value": 20,
+          "value": 21,
           "unit": null
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         "light_response_passed": {
@@ -854,15 +920,81 @@
           "unit": null
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         "light_response_max_pair_change": {
-          "value": 0.665697,
+          "value": 0.665583,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.021614,
+          "value": 0.020978,
           "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 \"<home>/simready-erob/.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 \"<home>/simready-erob/.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 \"<home>/simready-erob/.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 \"<home>/simready-erob/.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",
@@ -870,11 +1002,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.847,
+      "duration": 1.924,
       "message": "",
       "metrics": {
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+          "value": 0.607,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -882,11 +1014,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 75.54,
+          "value": 75.87,
           "unit": null
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-          "value": 0.23,
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           "unit": null
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         "_timing_encode_video_count": {
@@ -906,7 +1038,63 @@
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.017793,
+          "value": 0.017497,
+          "unit": null
+        },
+        "normals_xz_problem_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "normals_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 1.912,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.604,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 75.47,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.275,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_avg_dark": {
+          "value": 0.003324,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.017401,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -987,32 +1175,32 @@
       ]
     },
     {
-      "test_name": "normals_xz",
-      "engine": "isaac_sim_newton",
+      "test_name": "pivot",
+      "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.84,
+      "duration": 4.22,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.591,
+          "value": 1.843,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 8,
+          "value": 20,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 73.87,
+          "value": 92.17,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.226,
+          "value": 0.618,
           "unit": null
         },
         "_timing_encode_video_count": {
-          "value": 1,
+          "value": 2,
           "unit": null
         },
         "_render_blank_retry_count": {
@@ -1023,19 +1211,31 @@
           "value": 0,
           "unit": null
         },
-        "normals_xz_avg_dark": {
-          "value": 0.003144,
+        "pivot_score": {
+          "value": 0.9,
           "unit": null
         },
-        "normals_xz_max_dark": {
-          "value": 0.016997,
+        "pivot_pivot_height_pct": {
+          "value": 0.0,
           "unit": null
         },
-        "normals_xz_problem_frames": {
+        "pivot_pivot_at_base": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
           "value": 0,
           "unit": null
         },
-        "normals_xz_passed": {
+        "pivot_passed": {
           "value": 1,
           "unit": null
         }
@@ -1110,15 +1310,15 @@
     },
     {
       "test_name": "pivot",
-      "engine": "isaac_sim",
+      "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.69,
+      "duration": 4.233,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.997,
+          "value": 1.843,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1126,11 +1326,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 99.84,
+          "value": 92.15,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.623,
+          "value": 0.648,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1177,32 +1377,32 @@
       "kit_logs": []
     },
     {
-      "test_name": "pivot",
-      "engine": "isaac_sim_newton",
+      "test_name": "presence",
+      "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.723,
+      "duration": 0.566,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.808,
+          "value": 0.118,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 20,
+          "value": 2,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 90.4,
+          "value": 59.15,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.669,
+          "value": 0.0,
           "unit": null
         },
         "_timing_encode_video_count": {
-          "value": 2,
+          "value": 0,
           "unit": null
         },
         "_render_blank_retry_count": {
@@ -1213,31 +1413,11 @@
           "value": 0,
           "unit": null
         },
-        "pivot_score": {
-          "value": 0.9,
-          "unit": null
-        },
-        "pivot_pivot_height_pct": {
-          "value": 0.0,
-          "unit": null
-        },
-        "pivot_pivot_at_base": {
-          "value": 1,
-          "unit": null
-        },
-        "pivot_pivot_centered_xy": {
-          "value": 1,
-          "unit": null
-        },
-        "pivot_ground_penetration": {
-          "value": 1,
-          "unit": null
-        },
-        "pivot_orbital_motion": {
-          "value": 0,
+        "presence_diff_ratio": {
+          "value": 0.218102,
           "unit": null
         },
-        "pivot_passed": {
+        "presence_passed": {
           "value": 1,
           "unit": null
         }
@@ -1312,11 +1492,11 @@
     },
     {
       "test_name": "presence",
-      "engine": "isaac_sim",
+      "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 0.562,
+      "duration": 0.586,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
@@ -1328,7 +1508,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 60.83,
+          "value": 60.88,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -1348,7 +1528,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.218093,
+          "value": 0.218223,
           "unit": null
         },
         "presence_passed": {
@@ -1424,65 +1604,17 @@
         }
       ]
     },
-    {
-      "test_name": "presence",
-      "engine": "isaac_sim_newton",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 0.647,
-      "message": "",
-      "metrics": {
-        "_timing_capture_frame_total_s": {
-          "value": 0.13,
-          "unit": null
-        },
-        "_timing_capture_frame_count": {
-          "value": 2,
-          "unit": null
-        },
-        "_timing_capture_frame_avg_ms": {
-          "value": 65.23,
-          "unit": null
-        },
-        "_timing_encode_video_total_s": {
-          "value": 0.0,
-          "unit": null
-        },
-        "_timing_encode_video_count": {
-          "value": 0,
-          "unit": null
-        },
-        "_render_blank_retry_count": {
-          "value": 0,
-          "unit": null
-        },
-        "_render_blank_retry_unrecovered": {
-          "value": 0,
-          "unit": null
-        },
-        "presence_diff_ratio": {
-          "value": 0.218216,
-          "unit": null
-        },
-        "presence_passed": {
-          "value": 1,
-          "unit": null
-        }
-      },
-      "kit_logs": []
-    },
     {
       "test_name": "preview_surface_renders",
       "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.636,
+      "duration": 1.74,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.547,
+          "value": 0.61,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1490,7 +1622,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 136.75,
+          "value": 152.41,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -1510,7 +1642,7 @@
           "unit": null
         },
         "universal_surface_materials_with_universal": {
-          "value": 2,
+          "value": 1,
           "unit": null
         },
         "universal_surface_materials_with_mdl": {
@@ -1522,7 +1654,7 @@
           "unit": null
         },
         "universal_surface_materials_total": {
-          "value": 2,
+          "value": 1,
           "unit": null
         },
         "universal_surface_asset_root": {
@@ -1538,7 +1670,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 228449,
+          "value": 228456,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -1624,11 +1756,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.597,
+      "duration": 1.629,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.551,
+          "value": 0.559,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1636,7 +1768,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 137.65,
+          "value": 139.64,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -1656,7 +1788,7 @@
           "unit": null
         },
         "universal_surface_materials_with_universal": {
-          "value": 2,
+          "value": 1,
           "unit": null
         },
         "universal_surface_materials_with_mdl": {
@@ -1668,7 +1800,7 @@
           "unit": null
         },
         "universal_surface_materials_total": {
-          "value": 2,
+          "value": 1,
           "unit": null
         },
         "universal_surface_asset_root": {
@@ -1684,7 +1816,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 228459,
+          "value": 228456,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -1696,6 +1828,54 @@
           "unit": null
         }
       },
+      "kit_logs": []
+    },
+    {
+      "test_name": "semantic_labels_seg_labelled",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 1.022,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.192,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 192.12,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "semantic_labels_on_coverage": {
+          "value": 0.217556,
+          "unit": null
+        },
+        "semantic_labels_labelled_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
       "kit_logs": [
         {
           "level": "error",
@@ -1766,15 +1946,15 @@
     },
     {
       "test_name": "semantic_labels_seg_labelled",
-      "engine": "isaac_sim",
+      "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.062,
+      "duration": 1.044,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.187,
+          "value": 0.171,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1782,7 +1962,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 186.74,
+          "value": 171.11,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -1878,65 +2058,17 @@
         }
       ]
     },
-    {
-      "test_name": "semantic_labels_seg_labelled",
-      "engine": "isaac_sim_newton",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 1.148,
-      "message": "",
-      "metrics": {
-        "_timing_capture_frame_total_s": {
-          "value": 0.202,
-          "unit": null
-        },
-        "_timing_capture_frame_count": {
-          "value": 1,
-          "unit": null
-        },
-        "_timing_capture_frame_avg_ms": {
-          "value": 201.95,
-          "unit": null
-        },
-        "_timing_encode_video_total_s": {
-          "value": 0.0,
-          "unit": null
-        },
-        "_timing_encode_video_count": {
-          "value": 0,
-          "unit": null
-        },
-        "_render_blank_retry_count": {
-          "value": 0,
-          "unit": null
-        },
-        "_render_blank_retry_unrecovered": {
-          "value": 0,
-          "unit": null
-        },
-        "semantic_labels_on_coverage": {
-          "value": 0.217556,
-          "unit": null
-        },
-        "semantic_labels_labelled_passed": {
-          "value": 1,
-          "unit": null
-        }
-      },
-      "kit_logs": []
-    },
     {
       "test_name": "semantic_labels_seg_stripped",
       "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 0.814,
+      "duration": 0.726,
       "message": "",
       "metrics": {
         "semantic_labels_stripped_prims": {
-          "value": 3,
+          "value": 2,
           "unit": null
         },
         "semantic_labels_off_coverage": {
@@ -1956,11 +2088,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 0.821,
+      "duration": 0.773,
       "message": "",
       "metrics": {
         "semantic_labels_stripped_prims": {
-          "value": 3,
+          "value": 2,
           "unit": null
         },
         "semantic_labels_off_coverage": {
@@ -1980,7 +2112,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 16.845,
+      "duration": 17.888,
       "message": "",
       "metrics": {
         "slope_drop_initial_cx": {
@@ -2000,7 +2132,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 5.152,
+          "value": 5.245,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2008,11 +2140,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 107.33,
+          "value": 109.27,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.991,
+          "value": 1.003,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2064,15 +2196,81 @@
           "unit": null
         },
         "slope_drop_left_slope_frame": {
-          "value": 200,
+          "value": 201,
           "unit": null
         },
         "slope_drop_horiz_time": {
-          "value": 0.171,
+          "value": 0.167,
           "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 \"<home>/simready-erob/.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 \"<home>/simready-erob/.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 \"<home>/simready-erob/.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 \"<home>/simready-erob/.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'"
+        }
+      ]
     }
   ]
 }

erob110i_v6_brake_joint/com.nvidia.simready.packaging.json

@@ -6,13 +6,13 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "f95f9a7bc81df3ddea35d474dcc8cad9b45009c4af8d969990627aa8ddc3d188"
+        "sha256": "d066c02b1da0f399777d0dede68b7354919f2be504bac737fe3362a2f6446060"
       }
     },
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "13b89df04f0810c97ce7b574698f34b0afe3bd337e86ba6477ba84efd3226e2b"
+        "sha256": "e2ad034ed73d605d8d21e5d5978e07bcfcf09bc274ddefb7dfa01d0424a37767"
       }
     },
     {
@@ -23,9 +23,9 @@
     }
   ],
   "content_hash": {
-    "sha256": "e41613594034d7977e0ab63d4c4ea37bbe499c8cbd67b22128c86a6562c6c3bb"
+    "sha256": "8c302560d047a79fd2159c1ee8cf64b7eca886d18c88a996a2ec8e857e3c848f"
   },
   "package_hash": {
-    "sha256": "acab3aaf6fcd4ce4233860a36f4f9c5d872d71db289b0b5e63149fca7c41f7d3"
+    "sha256": "7a11f3a6154f2f986ffd9c9c46b1a0b91496d83d510d2b4d7d040301e95ae0e7"
   }
 }

erob110i_v6_brake_joint/simready_usd/erob110i_v6_brake_joint.usdc

@@ -1,3 +1,3 @@
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