Add SimReady package: M20

M20/.metadata/M20_benchmark.json

@@ -1,8 +1,8 @@
 {
   "schema_version": "1.0",
   "asset": "M20",
-  "run_timestamp": "2026-10-22T13:02:22Z",
-  "passed": false,
+  "run_timestamp": "2026-10-22T16:42:28Z",
+  "passed": true,
   "results": [
     {
       "test_name": "culling_xz",
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 17.335,
+      "duration": 14.52,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.68,
+          "value": 2.608,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 167.5,
+          "value": 162.98,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.505,
+          "value": 1.609,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -42,67 +42,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 8.7e-05,
+          "value": 5.4e-05,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 1.5e-05,
-          "unit": null
-        },
-        "culling_xz_worst_angle": {
-          "value": 135.0,
-          "unit": null
-        },
-        "culling_xz_passed": {
-          "value": 1,
-          "unit": null
-        }
-      },
-      "kit_logs": []
-    },
-    {
-      "test_name": "culling_xz",
-      "engine": "isaac_sim_newton",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 15.144,
-      "message": "",
-      "metrics": {
-        "_timing_capture_frame_total_s": {
-          "value": 2.218,
-          "unit": null
-        },
-        "_timing_capture_frame_count": {
-          "value": 16,
-          "unit": null
-        },
-        "_timing_capture_frame_avg_ms": {
-          "value": 138.64,
-          "unit": null
-        },
-        "_timing_encode_video_total_s": {
-          "value": 1.242,
-          "unit": null
-        },
-        "_timing_encode_video_count": {
-          "value": 2,
-          "unit": null
-        },
-        "_render_blank_retry_count": {
-          "value": 0,
-          "unit": null
-        },
-        "_render_blank_retry_unrecovered": {
-          "value": 0,
-          "unit": null
-        },
-        "culling_xz_max_diff": {
-          "value": 0.000168,
-          "unit": null
-        },
-        "culling_xz_mean_diff": {
-          "value": 5e-05,
+          "value": 1.2e-05,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -188,7 +132,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 221.328,
+      "duration": 229.233,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -204,19 +148,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 51.221,
+          "value": 45.861,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 228,
+          "value": 188,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 224.65,
+          "value": 243.94,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 7.358,
+          "value": 8.064,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -232,11 +176,11 @@
           "unit": null
         },
         "dgv_joints_passed": {
-          "value": 7,
+          "value": 3,
           "unit": null
         },
         "dgv_joints_failed": {
-          "value": 9,
+          "value": 13,
           "unit": null
         }
       },
@@ -248,7 +192,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 364.174,
+      "duration": 461.481,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -264,7 +208,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 75.634,
+          "value": 85.079,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -272,11 +216,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 196.96,
+          "value": 221.56,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 12.127,
+          "value": 15.761,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -312,7 +256,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 42.077,
+      "duration": 45.876,
       "message": "",
       "metrics": {
         "ground_drop_initial_z_min": {
@@ -328,7 +272,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 10.741,
+          "value": 11.422,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -336,11 +280,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 238.7,
+          "value": 253.83,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.046,
+          "value": 2.207,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -382,93 +326,17 @@
       },
       "kit_logs": []
     },
-    {
-      "test_name": "ground_drop",
-      "engine": "isaac_sim_newton",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 97.467,
-      "message": "",
-      "metrics": {
-        "ground_drop_initial_z_min": {
-          "value": 0.9892,
-          "unit": null
-        },
-        "ground_drop_bbox_height": {
-          "value": 0.6748,
-          "unit": null
-        },
-        "ground_drop_effective_fall": {
-          "value": 0.8892,
-          "unit": null
-        },
-        "_timing_capture_frame_total_s": {
-          "value": 16.17,
-          "unit": null
-        },
-        "_timing_capture_frame_count": {
-          "value": 73,
-          "unit": null
-        },
-        "_timing_capture_frame_avg_ms": {
-          "value": 221.5,
-          "unit": null
-        },
-        "_timing_encode_video_total_s": {
-          "value": 2.936,
-          "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
-        },
-        "ground_drop_touched": {
-          "value": 1,
-          "unit": null
-        },
-        "ground_drop_penetrated": {
-          "value": 0,
-          "unit": null
-        },
-        "ground_drop_stable": {
-          "value": 1,
-          "unit": null
-        },
-        "ground_drop_passed": {
-          "value": 1,
-          "unit": null
-        },
-        "ground_drop_touch_time": {
-          "value": 0.425,
-          "unit": null
-        },
-        "ground_drop_rest_time": {
-          "value": 4.333,
-          "unit": null
-        }
-      },
-      "kit_logs": []
-    },
     {
       "test_name": "joint_movement",
       "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 103.074,
+      "duration": 102.929,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 11.356,
+          "value": 11.925,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -476,11 +344,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 252.37,
+          "value": 265.0,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.68,
+          "value": 2.184,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -836,87 +704,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 19.329,
-      "message": "",
-      "metrics": {
-        "_timing_capture_frame_total_s": {
-          "value": 4.771,
-          "unit": null
-        },
-        "_timing_capture_frame_count": {
-          "value": 30,
-          "unit": null
-        },
-        "_timing_capture_frame_avg_ms": {
-          "value": 159.04,
-          "unit": null
-        },
-        "_timing_encode_video_total_s": {
-          "value": 1.417,
-          "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
-        },
-        "light_response_variation_ratio": {
-          "value": 0.689655,
-          "unit": null
-        },
-        "light_response_blank_ratio": {
-          "value": 0.0,
-          "unit": null
-        },
-        "light_response_blank_frames": {
-          "value": 0,
-          "unit": null
-        },
-        "light_response_total_frames": {
-          "value": 30,
-          "unit": null
-        },
-        "light_response_total_pairs": {
-          "value": 29,
-          "unit": null
-        },
-        "light_response_different_pairs": {
-          "value": 20,
-          "unit": null
-        },
-        "light_response_passed": {
-          "value": 1,
-          "unit": null
-        },
-        "light_response_max_pair_change": {
-          "value": 0.726302,
-          "unit": null
-        },
-        "light_response_min_pair_change": {
-          "value": 0.03186,
-          "unit": null
-        }
-      },
-      "kit_logs": []
-    },
-    {
-      "test_name": "light_response",
-      "engine": "isaac_sim_newton",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 17.33,
+      "duration": 18.282,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.172,
+          "value": 4.906,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -924,11 +716,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 139.06,
+          "value": 163.53,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.343,
+          "value": 1.5,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -972,11 +764,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.727483,
+          "value": 0.729756,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.032302,
+          "value": 0.031304,
           "unit": null
         }
       },
@@ -1054,11 +846,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 8.517,
+      "duration": 9.528,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.126,
+          "value": 1.182,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1066,11 +858,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 140.81,
+          "value": 147.73,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.7,
+          "value": 0.721,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1086,11 +878,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.000529,
+          "value": 0.000485,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.001706,
+          "value": 0.001684,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -1171,32 +963,32 @@
       ]
     },
     {
-      "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": 8.258,
-      "message": "",
+      "status": "skipped",
+      "passed": false,
+      "duration": 15.051,
+      "message": "Pivot/origin check did not meet the recommended score (score=0.20, recommended >=0.70). Reported as SKIPPED, not a failure: the correct pivot location depends on the object type, so a sub-threshold result is advisory and does not fail FET001. The tilt and spin videos are kept below so the pivot can be judged visually.\nPivot is 87.4% from base (should be <10%).\nX-axis tilt causes ground penetration (min_z=-0.642).\n\nHow to fix:\n- Move the asset pivot to the bottom-center of the bounding box.\n- The pivot should be at Z=0 (ground level) and centered in XY.\n- In your DCC tool, set the pivot/origin to the base of the object.\n- Check the X-tilt and Z-spin videos for visual reference.\n\nWhen this can be ignored: this check validates ground-placeable\nprops. If your object is a rotating/hinged type (e.g., door, robot\njoint), the pivot should be at the rotation center -- not the base;\nthose are validated under FET021/FET022. Attached objects (cameras,\nwheels) should have their pivot at the attachment point.\n\nINTERIM: pivot/origin (VG.025) is treated as advisory and does not\nfail the feature, pending spec clarification on whether VG.025 is a\nmandatory or optional requirement (refer to docs/spec-clarifications-needed.md).",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.993,
+          "value": 3.234,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 8,
+          "value": 20,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 124.13,
+          "value": 161.72,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.557,
+          "value": 1.728,
           "unit": null
         },
         "_timing_encode_video_count": {
-          "value": 1,
+          "value": 2,
           "unit": null
         },
         "_render_blank_retry_count": {
@@ -1207,21 +999,33 @@
           "value": 0,
           "unit": null
         },
-        "normals_xz_avg_dark": {
-          "value": 0.000543,
+        "pivot_score": {
+          "value": 0.2,
           "unit": null
         },
-        "normals_xz_max_dark": {
-          "value": 0.001701,
+        "pivot_pivot_height_pct": {
+          "value": 87.4,
           "unit": null
         },
-        "normals_xz_problem_frames": {
+        "pivot_pivot_at_base": {
           "value": 0,
           "unit": null
         },
-        "normals_xz_passed": {
+        "pivot_pivot_centered_xy": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
           "value": 1,
           "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 0,
+          "unit": null
         }
       },
       "kit_logs": [
@@ -1293,32 +1097,32 @@
       ]
     },
     {
-      "test_name": "pivot",
+      "test_name": "presence",
       "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
-      "status": "skipped",
-      "passed": false,
-      "duration": 13.946,
-      "message": "Pivot/origin check did not meet the recommended score (score=0.20, recommended >=0.70). Reported as SKIPPED, not a failure: the correct pivot location depends on the object type, so a sub-threshold result is advisory and does not fail FET001. The tilt and spin videos are kept below so the pivot can be judged visually.\nPivot is 87.4% from base (should be <10%).\nX-axis tilt causes ground penetration (min_z=-0.642).\n\nHow to fix:\n- Move the asset pivot to the bottom-center of the bounding box.\n- The pivot should be at Z=0 (ground level) and centered in XY.\n- In your DCC tool, set the pivot/origin to the base of the object.\n- Check the X-tilt and Z-spin videos for visual reference.\n\nWhen this can be ignored: this check validates ground-placeable\nprops. If your object is a rotating/hinged type (e.g., door, robot\njoint), the pivot should be at the rotation center -- not the base;\nthose are validated under FET021/FET022. Attached objects (cameras,\nwheels) should have their pivot at the attachment point.\n\nINTERIM: pivot/origin (VG.025) is treated as advisory and does not\nfail the feature, pending spec clarification on whether VG.025 is a\nmandatory or optional requirement (refer to docs/spec-clarifications-needed.md).",
+      "status": "pass",
+      "passed": true,
+      "duration": 5.165,
+      "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 3.029,
+          "value": 0.263,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 20,
+          "value": 2,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 151.46,
+          "value": 131.27,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.317,
+          "value": 0.0,
           "unit": null
         },
         "_timing_encode_video_count": {
-          "value": 2,
+          "value": 0,
           "unit": null
         },
         "_render_blank_retry_count": {
@@ -1329,464 +1133,16 @@
           "value": 0,
           "unit": null
         },
-        "pivot_score": {
-          "value": 0.2,
-          "unit": null
-        },
-        "pivot_pivot_height_pct": {
-          "value": 87.4,
-          "unit": null
-        },
-        "pivot_pivot_at_base": {
-          "value": 0,
-          "unit": null
-        },
-        "pivot_pivot_centered_xy": {
-          "value": 1,
+        "presence_diff_ratio": {
+          "value": 0.177205,
           "unit": null
         },
-        "pivot_ground_penetration": {
+        "presence_passed": {
           "value": 1,
           "unit": null
-        },
-        "pivot_orbital_motion": {
-          "value": 0,
-          "unit": null
-        },
-        "pivot_passed": {
-          "value": 0,
-          "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 \"<home>/nvidia-submission/simready-tools/.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>/nvidia-submission/simready-tools/.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>/nvidia-submission/simready-tools/.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>/nvidia-submission/simready-tools/.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": "pivot",
-      "engine": "isaac_sim_newton",
-      "engine_version": "6.1.0.0",
-      "status": "skipped",
-      "passed": false,
-      "duration": 12.604,
-      "message": "Pivot/origin check did not meet the recommended score (score=0.20, recommended >=0.70). Reported as SKIPPED, not a failure: the correct pivot location depends on the object type, so a sub-threshold result is advisory and does not fail FET001. The tilt and spin videos are kept below so the pivot can be judged visually.\nPivot is 87.4% from base (should be <10%).\nX-axis tilt causes ground penetration (min_z=-0.642).\n\nHow to fix:\n- Move the asset pivot to the bottom-center of the bounding box.\n- The pivot should be at Z=0 (ground level) and centered in XY.\n- In your DCC tool, set the pivot/origin to the base of the object.\n- Check the X-tilt and Z-spin videos for visual reference.\n\nWhen this can be ignored: this check validates ground-placeable\nprops. If your object is a rotating/hinged type (e.g., door, robot\njoint), the pivot should be at the rotation center -- not the base;\nthose are validated under FET021/FET022. Attached objects (cameras,\nwheels) should have their pivot at the attachment point.\n\nINTERIM: pivot/origin (VG.025) is treated as advisory and does not\nfail the feature, pending spec clarification on whether VG.025 is a\nmandatory or optional requirement (refer to docs/spec-clarifications-needed.md).",
-      "metrics": {
-        "_timing_capture_frame_total_s": {
-          "value": 2.789,
-          "unit": null
-        },
-        "_timing_capture_frame_count": {
-          "value": 20,
-          "unit": null
-        },
-        "_timing_capture_frame_avg_ms": {
-          "value": 139.46,
-          "unit": null
-        },
-        "_timing_encode_video_total_s": {
-          "value": 1.254,
-          "unit": null
-        },
-        "_timing_encode_video_count": {
-          "value": 2,
-          "unit": null
-        },
-        "_render_blank_retry_count": {
-          "value": 0,
-          "unit": null
-        },
-        "_render_blank_retry_unrecovered": {
-          "value": 0,
-          "unit": null
-        },
-        "pivot_score": {
-          "value": 0.2,
-          "unit": null
-        },
-        "pivot_pivot_height_pct": {
-          "value": 87.4,
-          "unit": null
-        },
-        "pivot_pivot_at_base": {
-          "value": 0,
-          "unit": null
-        },
-        "pivot_pivot_centered_xy": {
-          "value": 1,
-          "unit": null
-        },
-        "pivot_ground_penetration": {
-          "value": 1,
-          "unit": null
-        },
-        "pivot_orbital_motion": {
-          "value": 0,
-          "unit": null
-        },
-        "pivot_passed": {
-          "value": 0,
-          "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 \"<home>/nvidia-submission/simready-tools/.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>/nvidia-submission/simready-tools/.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>/nvidia-submission/simready-tools/.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>/nvidia-submission/simready-tools/.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": "presence",
-      "engine": "isaac_sim",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 5.674,
-      "message": "",
-      "metrics": {
-        "_timing_capture_frame_total_s": {
-          "value": 0.271,
-          "unit": null
-        },
-        "_timing_capture_frame_count": {
-          "value": 2,
-          "unit": null
-        },
-        "_timing_capture_frame_avg_ms": {
-          "value": 135.31,
-          "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": 0.177209,
-          "unit": null
-        },
-        "presence_passed": {
-          "value": 1,
-          "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 \"<home>/nvidia-submission/simready-tools/.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>/nvidia-submission/simready-tools/.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>/nvidia-submission/simready-tools/.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>/nvidia-submission/simready-tools/.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": "presence",
-      "engine": "isaac_sim_newton",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 6.413,
-      "message": "",
-      "metrics": {
-        "_timing_capture_frame_total_s": {
-          "value": 0.234,
-          "unit": null
-        },
-        "_timing_capture_frame_count": {
-          "value": 2,
-          "unit": null
-        },
-        "_timing_capture_frame_avg_ms": {
-          "value": 117.01,
-          "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": 0.177291,
-          "unit": null
-        },
-        "presence_passed": {
-          "value": 1,
-          "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 \"<home>/nvidia-submission/simready-tools/.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>/nvidia-submission/simready-tools/.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>/nvidia-submission/simready-tools/.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>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
-        }
-      ]
+      "kit_logs": []
     },
     {
       "test_name": "preview_surface_renders",
@@ -1794,11 +1150,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.49,
+      "duration": 4.385,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.892,
+          "value": 1.134,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1806,7 +1162,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 222.92,
+          "value": 283.56,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -1854,7 +1210,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 185043,
+          "value": 185040,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -1866,106 +1222,6 @@
           "unit": null
         }
       },
-      "kit_logs": []
-    },
-    {
-      "test_name": "slope_drop",
-      "engine": "isaac_sim",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 62.222,
-      "message": "",
-      "metrics": {
-        "slope_drop_initial_cx": {
-          "value": 0.0,
-          "unit": null
-        },
-        "slope_drop_initial_cy": {
-          "value": -3.2365,
-          "unit": null
-        },
-        "slope_drop_initial_z_min": {
-          "value": 8.9944,
-          "unit": null
-        },
-        "slope_drop_bbox_height": {
-          "value": 0.6748,
-          "unit": null
-        },
-        "_timing_capture_frame_total_s": {
-          "value": 11.321,
-          "unit": null
-        },
-        "_timing_capture_frame_count": {
-          "value": 53,
-          "unit": null
-        },
-        "_timing_capture_frame_avg_ms": {
-          "value": 213.6,
-          "unit": null
-        },
-        "_timing_encode_video_total_s": {
-          "value": 2.255,
-          "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
-        },
-        "slope_drop_contact_detected": {
-          "value": 1,
-          "unit": null
-        },
-        "slope_drop_horiz_detected": {
-          "value": 1,
-          "unit": null
-        },
-        "slope_drop_penetrated": {
-          "value": 0,
-          "unit": null
-        },
-        "slope_drop_slope_penetrated": {
-          "value": 0,
-          "unit": null
-        },
-        "slope_drop_excessive_separation": {
-          "value": 0,
-          "unit": null
-        },
-        "slope_drop_uphill_motion": {
-          "value": 0,
-          "unit": null
-        },
-        "slope_drop_passed": {
-          "value": 1,
-          "unit": null
-        },
-        "slope_drop_max_clearance": {
-          "value": 0.0199,
-          "unit": "m"
-        },
-        "slope_drop_separation_frames": {
-          "value": 0,
-          "unit": null
-        },
-        "slope_drop_left_slope_frame": {
-          "value": 554,
-          "unit": null
-        },
-        "slope_drop_horiz_time": {
-          "value": 0.475,
-          "unit": null
-        }
-      },
       "kit_logs": [
         {
           "level": "error",
@@ -2036,12 +1292,12 @@
     },
     {
       "test_name": "slope_drop",
-      "engine": "isaac_sim_newton",
+      "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
-      "status": "fail",
-      "passed": false,
-      "duration": 42.483,
-      "message": "Slope drop FAILED: The asset remained too far from the ramp after contact for 24 consecutive frame(s); peak clearance 0.1406m at frame 444. Review collision contact gaps, restitution, and the video for an upward launch.",
+      "status": "pass",
+      "passed": true,
+      "duration": 62.209,
+      "message": "",
       "metrics": {
         "slope_drop_initial_cx": {
           "value": 0.0,
@@ -2052,7 +1308,7 @@
           "unit": null
         },
         "slope_drop_initial_z_min": {
-          "value": 8.9714,
+          "value": 8.9944,
           "unit": null
         },
         "slope_drop_bbox_height": {
@@ -2060,19 +1316,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 6.134,
+          "value": 12.11,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 28,
+          "value": 53,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 219.06,
+          "value": 228.49,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.488,
+          "value": 2.475,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2104,7 +1360,7 @@
           "unit": null
         },
         "slope_drop_excessive_separation": {
-          "value": 1,
+          "value": 0,
           "unit": null
         },
         "slope_drop_uphill_motion": {
@@ -2112,23 +1368,23 @@
           "unit": null
         },
         "slope_drop_passed": {
-          "value": 0,
+          "value": 1,
           "unit": null
         },
         "slope_drop_max_clearance": {
-          "value": 0.1406,
+          "value": 0.0199,
           "unit": "m"
         },
         "slope_drop_separation_frames": {
-          "value": 24,
+          "value": 0,
           "unit": null
         },
-        "slope_drop_separation_frame": {
-          "value": 444,
+        "slope_drop_left_slope_frame": {
+          "value": 554,
           "unit": null
         },
         "slope_drop_horiz_time": {
-          "value": 0.467,
+          "value": 0.475,
           "unit": null
         }
       },

M20/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package-Candidate",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-22T16:42:30",
+  "assets": [
+    {
+      "asset": "simready_usd/M20.usd",
+      "features": [
+        {
+          "FET_031_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_033_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_031_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

M20/.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": "2026-10-22T13:02:24",
+  "timestamp": "2026-10-22T16:42:31",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

M20/.metadata/com.nvidia.simready.root_usds.json

@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/M20.usd"
+  ]
+}

M20/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "f2ba917c05c4d8550f556c09980975f56ba2319141c637d16d4ff7538e3c4a3f"
+        "sha256": "3d12cd1b9f8816a623a7ba14b38d4937955c46528e8d57104f83e6cbf1632ace"
       }
     },
     {
@@ -26,6 +26,6 @@
     "sha256": "bc11793ca9b7fce5f6cd0af13fbe56926b4cde2f30dfa58707e7548bb00b7c4a"
   },
   "package_hash": {
-    "sha256": "19da8ca1aeec5a10ed2017fa692a6674152abffca4dd9f49c6ba579c292e5d17"
+    "sha256": "71949d8384fbc2931c0bab3103d25fa32f6704a6133a7b6db24a66ff3d84e525"
   }
 }