Add SimReady package: Lite3

Lite3/.metadata/Lite3_benchmark.json

@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0",
   "asset": "Lite3",
-  "run_timestamp": "2026-10-23T01:23:07Z",
+  "run_timestamp": "2026-10-23T01:55:09Z",
   "passed": false,
   "results": [
     {
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.27,
+      "duration": 7.865,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.986,
+          "value": 1.992,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 124.1,
+          "value": 124.48,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.507,
+          "value": 1.105,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -42,11 +42,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 5.3e-05,
+          "value": 0.000117,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 1.5e-05,
+          "value": 1.9e-05,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -132,11 +132,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.203,
+      "duration": 5.885,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.001,
+          "value": 2.017,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -144,11 +144,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 125.08,
+          "value": 126.06,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.073,
+          "value": 1.118,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -164,15 +164,15 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.0001,
+          "value": 7.4e-05,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 2.4e-05,
+          "value": 2e-05,
           "unit": null
         },
         "culling_xz_worst_angle": {
-          "value": 270.0,
+          "value": 135.0,
           "unit": null
         },
         "culling_xz_passed": {
@@ -254,7 +254,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 55.936,
+      "duration": 48.593,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -270,19 +270,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 19.127,
+          "value": 16.335,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 87,
+          "value": 74,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 219.85,
+          "value": 220.74,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 3.082,
+          "value": 2.644,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -298,81 +298,15 @@
           "unit": null
         },
         "dgv_joints_passed": {
-          "value": 6,
+          "value": 7,
           "unit": null
         },
         "dgv_joints_failed": {
-          "value": 6,
+          "value": 5,
           "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": "drive_gain_validation",
@@ -380,7 +314,7 @@
       "engine_version": "",
       "status": "fail",
       "passed": false,
-      "duration": 914.687,
+      "duration": 914.2339999999999,
       "message": "Test exceeded its declared max_duration of 300 seconds; the engine session was terminated (retries exhausted).",
       "metrics": {},
       "kit_logs": []
@@ -391,7 +325,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 208.161,
+      "duration": 204.606,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -407,7 +341,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 52.734,
+          "value": 51.9,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -415,11 +349,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 183.1,
+          "value": 180.21,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 9.341,
+          "value": 9.313,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -447,16 +381,82 @@
           "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>/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": "effort_limit",
       "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 280.926,
-      "message": "",
+      "status": "fail",
+      "passed": false,
+      "duration": 250.759,
+      "message": "EFF: 1/12 joints exceeded position limits under 10 N external force.\n  Failing joints: HL_HipY_joint\n\nEach failing joint has a per-joint warning above with its specific failing directions\nand the four-step inspection checklist (drive maxForce, drive stiffness/damping, link\nmass/inertia, joint limits). Walk those first.\n\nQUICK TRIAGE:\n  - If most or all joints fail in the same directions: the test force is likely too\n    high for this asset's class. Drop 'force_magnitude_newtons' in the EFF config to\n    the asset's rated operating envelope.\n  - If one or two joints fail: those joints' drive:*:physics:maxForce is the most\n    likely culprit. Edit the joint prims in USD and raise maxForce above the applied\n    push with a 2-3x margin.\n  - If the bbox 'exploded' rather than a clean limit excursion, the per-joint warning\n    says so -- that points to runaway integration, usually from an unpinned base or\n    near-zero mass/inertia on a link.\n\nREFERENCE:\n  Feature:   nv_core/sr_specs/docs/shared/features/FET_022-driven_joints.md\n  Drive:     nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/\n             physics-drive-and-joint-state.md (DJ.001 -- maxForce > 0)\n             drive-joint-value-reasonable.md  (DJ.006 -- stiffness/damping ranges)\n  Joints:    nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_joints/requirements/\n             joint-body-target-exists.md\n  Example:   sample_content/common_assets/robots_general/Franka/FrankaResearch3/\n             simready_isaac_usd/FrankaResearch3.usda\n             (search for: drive:angular:physics:maxForce)",
       "metrics": {
         "eff_joints_with_candidates": {
           "value": 12,
@@ -471,19 +471,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 55.685,
+          "value": 51.131,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 288,
+          "value": 280,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 193.35,
+          "value": 182.61,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 9.986,
+          "value": 9.094,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -503,11 +503,11 @@
           "unit": null
         },
         "eff_joints_passed": {
-          "value": 12,
+          "value": 11,
           "unit": null
         },
         "eff_joints_failed": {
-          "value": 0,
+          "value": 1,
           "unit": null
         }
       },
@@ -585,7 +585,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 388.144,
+      "duration": 368.816,
       "message": "",
       "metrics": {
         "frs_total_dofs": {
@@ -605,11 +605,11 @@
           "unit": null
         },
         "frs_bbox_baseline_volume": {
-          "value": 0.02744689791106304,
+          "value": 0.01803980237813273,
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 73.504,
+          "value": 73.687,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -617,11 +617,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 204.18,
+          "value": 204.69,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 12.569,
+          "value": 11.609,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -653,7 +653,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 36.47,
+      "duration": 35.251,
       "message": "",
       "metrics": {
         "ground_drop_initial_z_min": {
@@ -669,19 +669,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 12.431,
+          "value": 12.046,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 61,
+          "value": 58,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 203.78,
+          "value": 207.68,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.186,
+          "value": 2.2,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -717,7 +717,7 @@
           "unit": null
         },
         "ground_drop_rest_time": {
-          "value": 3.554,
+          "value": 3.333,
           "unit": null
         }
       },
@@ -727,37 +727,37 @@
       "test_name": "ground_drop",
       "engine": "isaac_sim_newton",
       "engine_version": "6.1.0.0",
-      "status": "fail",
-      "passed": false,
-      "duration": 136.099,
-      "message": "Ground drop FAILED: Object touched the ground but never came to rest within 8.0 seconds after touch. Object is oscillating, sliding, or spinning indefinitely.\n\nHow to fix:\n- Check mass properties. Unrealistic mass causes excessive bouncing; set mass proportional to real-world equivalent.\n- Check center of mass. If outside the collision mesh, the object wobbles indefinitely.\n- Check for rounded base geometry. Perfectly round bottoms may never fully rest; consider flattening the base collision mesh.\n- Check for overlapping collision meshes causing perpetual forces.\n- Review the video. Jittering often indicates solver instability -- try simplifying collision mesh to convexHull.",
+      "status": "pass",
+      "passed": true,
+      "duration": 99.346,
+      "message": "",
       "metrics": {
         "ground_drop_initial_z_min": {
-          "value": 0.7657,
+          "value": 0.759,
           "unit": null
         },
         "ground_drop_bbox_height": {
-          "value": 0.4923,
+          "value": 0.4979,
           "unit": null
         },
         "ground_drop_effective_fall": {
-          "value": 0.6657,
+          "value": 0.659,
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 26.523,
+          "value": 19.386,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 133,
+          "value": 91,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 199.42,
+          "value": 213.04,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 4.343,
+          "value": 3.236,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -781,19 +781,89 @@
           "unit": null
         },
         "ground_drop_stable": {
-          "value": 0,
+          "value": 1,
           "unit": null
         },
         "ground_drop_passed": {
-          "value": 0,
+          "value": 1,
           "unit": null
         },
         "ground_drop_touch_time": {
-          "value": 0.358,
+          "value": 0.362,
+          "unit": null
+        },
+        "ground_drop_rest_time": {
+          "value": 5.537,
           "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>/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": "ik_target_reach",
@@ -801,7 +871,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 1.589,
+      "duration": 1.365,
       "message": "IK Target Reach phase cannot run: no Lula kinematics descriptor matched this asset.\n\n  Found:    asset_path='<home>/nvidia-submission/simready-tools/assets/Lite3/simready_usd/Lite3.usd'\n            isaac:robotType='LEGGED'\n  Expected: the asset's path OR its IsaacRobotAPI.isaac:robotType\n            value contains one of the canonical Lula-supported\n            robot keys (case-insensitive substring match):\n              Franka, UR3, UR5, UR10, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4\n\nFIX (asset-authoring): the Lula IK solver needs a descriptor YAML +\nURDF pair to know your robot's kinematic chain. Two ways to satisfy\nthis test:\n\n  1. RENAME / RETAG to a supported model. If your robot IS one of the\n     supported models above, ensure the asset folder name (or the\n     default prim's isaac:robotType token) contains the canonical\n     key. For example, place the asset under a folder containing\n     'Franka' or set:\n         token isaac:robotType = \"Manipulator\"\n         string isaac:robotName = \"Franka\"\n     on the default prim.\n\n  2. PROVIDE an explicit Lula descriptor. Set the phase config in\n     your test profile:\n         lula_robot_name: \"<canonical-name>\"\n         lula_yaml_path:  \"./abs/path/to/robot_descriptor.yaml\"\n         lula_urdf_path:  \"./abs/path/to/robot.urdf\"\n     The YAML must list the kinematic chain (base_link, cspace,\n     active joints, default_q) per Isaac Sim's Lula descriptor\n     format. See any policy in the policy_map directory cited below\n     for a working template.\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/robot_core/requirements/robot-type.md (RC.008)\n             nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/robot_core/requirements/robot-schema.md (RC.007)\n  Feature:   nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_021_ISAAC.md\n  Lula descriptors: Isaac Sim ships YAML+URDF pairs under\n             isaacsim.robot_motion.motion_generation/policies/\n             policy_map.json -- keyed by canonical robot name\n             (Franka, UR3, UR5, UR10, UR16e, Kinova_Gen3,\n              Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta,\n              Festo_Cobot, Rethink_Sawyer, Rizon4).\n  Example:   Any Franka_*.usd or UR10_*.usd asset under\n             sample_content/common_assets/robots_general/ -- the\n             asset folder name contains the canonical robot key\n             and the default prim sets isaac:robotType=\"Manipulator\".",
       "metrics": {},
       "kit_logs": []
@@ -812,7 +882,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 8.445,
+      "duration": 7.239,
       "message": "IK Target Reach phase cannot run: no Lula kinematics descriptor matched this asset.\n\n  Found:    asset_path='<home>/nvidia-submission/simready-tools/assets/Lite3/simready_usd/Lite3.usd'\n            isaac:robotType='LEGGED'\n  Expected: the asset's path OR its IsaacRobotAPI.isaac:robotType\n            value contains one of the canonical Lula-supported\n            robot keys (case-insensitive substring match):\n              Franka, UR3, UR5, UR10, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4\n\nFIX (asset-authoring): the Lula IK solver needs a descriptor YAML +\nURDF pair to know your robot's kinematic chain. Two ways to satisfy\nthis test:\n\n  1. RENAME / RETAG to a supported model. If your robot IS one of the\n     supported models above, ensure the asset folder name (or the\n     default prim's isaac:robotType token) contains the canonical\n     key. For example, place the asset under a folder containing\n     'Franka' or set:\n         token isaac:robotType = \"Manipulator\"\n         string isaac:robotName = \"Franka\"\n     on the default prim.\n\n  2. PROVIDE an explicit Lula descriptor. Set the phase config in\n     your test profile:\n         lula_robot_name: \"<canonical-name>\"\n         lula_yaml_path:  \"./abs/path/to/robot_descriptor.yaml\"\n         lula_urdf_path:  \"./abs/path/to/robot.urdf\"\n     The YAML must list the kinematic chain (base_link, cspace,\n     active joints, default_q) per Isaac Sim's Lula descriptor\n     format. See any policy in the policy_map directory cited below\n     for a working template.\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/robot_core/requirements/robot-type.md (RC.008)\n             nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/robot_core/requirements/robot-schema.md (RC.007)\n  Feature:   nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_021_ISAAC.md\n  Lula descriptors: Isaac Sim ships YAML+URDF pairs under\n             isaacsim.robot_motion.motion_generation/policies/\n             policy_map.json -- keyed by canonical robot name\n             (Franka, UR3, UR5, UR10, UR16e, Kinova_Gen3,\n              Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta,\n              Festo_Cobot, Rethink_Sawyer, Rizon4).\n  Example:   Any Franka_*.usd or UR10_*.usd asset under\n             sample_content/common_assets/robots_general/ -- the\n             asset folder name contains the canonical robot key\n             and the default prim sets isaac:robotType=\"Manipulator\".",
       "metrics": {},
       "kit_logs": []
@@ -823,23 +893,23 @@
       "engine_version": "6.1.0.0",
       "status": "fail",
       "passed": false,
-      "duration": 173.205,
-      "message": "JIK: in-reach pass rate 0.00 below minimum 0.40 -- the asset's\narticulation could not reach enough generated targets to pass.\n\nWhat the test found:\n  - 0 / 5 in-reach targets passed.\n  - 0 failed because the DLS solver could not find a joint\n    solution (red sphere in the captured video).\n  - 5 failed because the solver succeeded but the PD drives did\n    not track the precomputed solution to within tolerance\n    (orange sphere).\n  - Worst position error: 1.3856 m (tolerance 0.050 m).\n  - Worst orientation error: 102.13 deg (tolerance 10.00 deg).\n  - End-effector under test: /World/AssetRoot/Asset/HR_FOOT.\n  - Failed targets: target_0, target_1, target_2, target_3, target_4.\n\nFIX -- triage in this order:\n\n  1) Open the captured video. Targets coloured RED never had a\n     joint solution. Targets coloured ORANGE had a solution but\n     the robot did not get there -- a drive-tuning problem.\n\n  2) For ORANGE (motion failed) on a `PhysicsRevoluteJoint`,\n     inspect drive stiffness / damping on each joint. Industrial\n     arms typically need:\n\n         def PhysicsRevoluteJoint \"joint_3\" (\n             prepend apiSchemas = [\"PhysicsDriveAPI:angular\"]\n         )\n         {\n             # Example values for a 25 kg-link arm; scale with\n             # link inertia. Stiffness too low -> drift; too\n             # high -> oscillation.\n             float drive:angular:physics:stiffness = 10000.0\n             float drive:angular:physics:damping   = 1000.0\n             float drive:angular:physics:maxForce  = 1000.0\n         }\n\n  3) For RED (solver failed), the Jacobian is singular or the\n     joint limits are too tight. Verify each joint declares\n     non-zero limits:\n\n         float physics:lowerLimit = -180.0\n         float physics:upperLimit =  180.0\n\n     and that the EE link (/World/AssetRoot/Asset/HR_FOOT) is the LAST link in the chain --\n     a tip link with no preceding revolute joint cannot be\n     reached by a Jacobian solver.\n\n  4) Asset fix: Tune drive stiffness/damping so each joint can hold its\n     commanded position under JIK's smoothstep motion -- start\n     by doubling stiffness on the joint(s) showing the largest\n     tracking error in the video.\n\n  5) Engine note: JIK uses a damped least-squares Jacobian solver with USD\n     forward kinematics; ensure the asset's joints are exposed\n     in the SingleArticulation's `dof_names`.\n\n  6) TEST-CONFIG escape hatches (use only when the asset is\n     genuinely correct but the defaults are wrong for it):\n     - Reduce `target_radius_factors` (default (0.5, 0.7, 0.9))\n       when the bbox-based reach estimate overshoots the actual\n       workspace (common on non-extended / folded arms).\n     - Loosen `position_tolerance` / `orientation_tolerance_deg`\n       (defaults 0.05 m / 10 deg) when the asset's PD drive has\n       intentional steady-state error.\n     - Increase `max_solver_iterations` (default 50) when DLS\n       convergence is slow on long-armed or heavily damped\n       robots.\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_joints/requirements/articulation.md\n             nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_joints/requirements/joint-body-target-exists.md\n             nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/hierarchy/requirements/kinematic-chain-hierarchy.md\n  Example:   sample_content/common_assets/robots_general/Franka/Franka.usda\n             (search for: PhysicsArticulationRootAPI, PhysicsRevoluteJoint)",
+      "duration": 137.419,
+      "message": "JIK: in-reach pass rate 0.00 below minimum 0.40 -- the asset's\narticulation could not reach enough generated targets to pass.\n\nWhat the test found:\n  - 0 / 5 in-reach targets passed.\n  - 0 failed because the DLS solver could not find a joint\n    solution (red sphere in the captured video).\n  - 5 failed because the solver succeeded but the PD drives did\n    not track the precomputed solution to within tolerance\n    (orange sphere).\n  - Worst position error: 0.9433 m (tolerance 0.050 m).\n  - Worst orientation error: 113.66 deg (tolerance 10.00 deg).\n  - End-effector under test: /World/AssetRoot/Asset/HR_FOOT.\n  - Failed targets: target_0, target_1, target_2, target_3, target_4.\n\nFIX -- triage in this order:\n\n  1) Open the captured video. Targets coloured RED never had a\n     joint solution. Targets coloured ORANGE had a solution but\n     the robot did not get there -- a drive-tuning problem.\n\n  2) For ORANGE (motion failed) on a `PhysicsRevoluteJoint`,\n     inspect drive stiffness / damping on each joint. Industrial\n     arms typically need:\n\n         def PhysicsRevoluteJoint \"joint_3\" (\n             prepend apiSchemas = [\"PhysicsDriveAPI:angular\"]\n         )\n         {\n             # Example values for a 25 kg-link arm; scale with\n             # link inertia. Stiffness too low -> drift; too\n             # high -> oscillation.\n             float drive:angular:physics:stiffness = 10000.0\n             float drive:angular:physics:damping   = 1000.0\n             float drive:angular:physics:maxForce  = 1000.0\n         }\n\n  3) For RED (solver failed), the Jacobian is singular or the\n     joint limits are too tight. Verify each joint declares\n     non-zero limits:\n\n         float physics:lowerLimit = -180.0\n         float physics:upperLimit =  180.0\n\n     and that the EE link (/World/AssetRoot/Asset/HR_FOOT) is the LAST link in the chain --\n     a tip link with no preceding revolute joint cannot be\n     reached by a Jacobian solver.\n\n  4) Asset fix: Tune drive stiffness/damping so each joint can hold its\n     commanded position under JIK's smoothstep motion -- start\n     by doubling stiffness on the joint(s) showing the largest\n     tracking error in the video.\n\n  5) Engine note: JIK uses a damped least-squares Jacobian solver with USD\n     forward kinematics; ensure the asset's joints are exposed\n     in the SingleArticulation's `dof_names`.\n\n  6) TEST-CONFIG escape hatches (use only when the asset is\n     genuinely correct but the defaults are wrong for it):\n     - Reduce `target_radius_factors` (default (0.5, 0.7, 0.9))\n       when the bbox-based reach estimate overshoots the actual\n       workspace (common on non-extended / folded arms).\n     - Loosen `position_tolerance` / `orientation_tolerance_deg`\n       (defaults 0.05 m / 10 deg) when the asset's PD drive has\n       intentional steady-state error.\n     - Increase `max_solver_iterations` (default 50) when DLS\n       convergence is slow on long-armed or heavily damped\n       robots.\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_joints/requirements/articulation.md\n             nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_joints/requirements/joint-body-target-exists.md\n             nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/hierarchy/requirements/kinematic-chain-hierarchy.md\n  Example:   sample_content/common_assets/robots_general/Franka/Franka.usda\n             (search for: PhysicsArticulationRootAPI, PhysicsRevoluteJoint)",
       "metrics": {
         "jik_robot_reach": {
-          "value": 0.4746,
+          "value": 0.4357,
           "unit": null
         },
         "jik_target_radius": {
-          "value": 0.4272,
+          "value": 0.3921,
           "unit": null
         },
         "jik_base_position_x": {
-          "value": 0.7308,
+          "value": -0.5183,
           "unit": null
         },
         "jik_base_position_y": {
-          "value": 0.3644,
+          "value": -0.1336,
           "unit": null
         },
         "jik_base_position_z": {
@@ -847,7 +917,7 @@
           "unit": null
         },
         "jik_max_observed_reach": {
-          "value": 0.4077,
+          "value": 0.4081,
           "unit": null
         },
         "jik_distinct_reachable_targets": {
@@ -855,15 +925,15 @@
           "unit": null
         },
         "jik_bbox_baseline_volume": {
-          "value": 0.027556,
+          "value": 0.018075,
           "unit": null
         },
         "jik_total_iterations": {
-          "value": 316,
+          "value": 310,
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 16.968,
+          "value": 14.934,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -871,11 +941,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 226.23,
+          "value": 199.12,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 3.128,
+          "value": 2.57,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -935,11 +1005,11 @@
           "unit": null
         },
         "jik_max_position_error_m": {
-          "value": 1.385633,
+          "value": 0.943314,
           "unit": null
         },
         "jik_max_orientation_error_deg": {
-          "value": 102.1276,
+          "value": 113.6641,
           "unit": null
         },
         "jik_pass_rate": {
@@ -951,7 +1021,73 @@
           "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>/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": "joint_movement",
@@ -959,11 +1095,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 61.825,
+      "duration": 61.722,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 10.564,
+          "value": 10.366,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -971,11 +1107,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 234.76,
+          "value": 230.35,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.699,
+          "value": 1.773,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -991,11 +1127,11 @@
           "unit": null
         },
         "jm_joint_FL_HipX_joint_rot_deg": {
-          "value": 29.972,
+          "value": 29.956,
           "unit": null
         },
         "jm_joint_FL_HipX_joint_trans_pct": {
-          "value": 61.21,
+          "value": 60.19,
           "unit": null
         },
         "jm_joint_FL_HipX_joint_bbox_m": {
@@ -1007,15 +1143,15 @@
           "unit": null
         },
         "jm_joint_FL_HipY_joint_rot_deg": {
-          "value": 152.97,
+          "value": 153.021,
           "unit": null
         },
         "jm_joint_FL_HipY_joint_trans_pct": {
-          "value": 134.48,
+          "value": 134.02,
           "unit": null
         },
         "jm_joint_FL_HipY_joint_bbox_m": {
-          "value": 0.3053,
+          "value": 0.3052,
           "unit": null
         },
         "jm_joint_FL_HipY_joint_pct_of_travel": {
@@ -1023,27 +1159,27 @@
           "unit": null
         },
         "jm_joint_FL_Knee_joint_rot_deg": {
-          "value": 130.977,
+          "value": 131.149,
           "unit": null
         },
         "jm_joint_FL_Knee_joint_trans_pct": {
-          "value": 210.34,
+          "value": 209.95,
           "unit": null
         },
         "jm_joint_FL_Knee_joint_bbox_m": {
-          "value": 0.3112,
+          "value": 0.3113,
           "unit": null
         },
         "jm_joint_FL_Knee_joint_pct_of_travel": {
-          "value": 81.9,
+          "value": 82.0,
           "unit": null
         },
         "jm_joint_FR_HipX_joint_rot_deg": {
-          "value": 29.961,
+          "value": 29.977,
           "unit": null
         },
         "jm_joint_FR_HipX_joint_trans_pct": {
-          "value": 39.06,
+          "value": 39.74,
           "unit": null
         },
         "jm_joint_FR_HipX_joint_bbox_m": {
@@ -1055,15 +1191,15 @@
           "unit": null
         },
         "jm_joint_FR_HipY_joint_rot_deg": {
-          "value": 152.956,
+          "value": 153.009,
           "unit": null
         },
         "jm_joint_FR_HipY_joint_trans_pct": {
-          "value": 133.94,
+          "value": 134.47,
           "unit": null
         },
         "jm_joint_FR_HipY_joint_bbox_m": {
-          "value": 0.3053,
+          "value": 0.3052,
           "unit": null
         },
         "jm_joint_FR_HipY_joint_pct_of_travel": {
@@ -1071,27 +1207,27 @@
           "unit": null
         },
         "jm_joint_FR_Knee_joint_rot_deg": {
-          "value": 130.976,
+          "value": 131.161,
           "unit": null
         },
         "jm_joint_FR_Knee_joint_trans_pct": {
-          "value": 175.35,
+          "value": 175.02,
           "unit": null
         },
         "jm_joint_FR_Knee_joint_bbox_m": {
-          "value": 0.3112,
+          "value": 0.3113,
           "unit": null
         },
         "jm_joint_FR_Knee_joint_pct_of_travel": {
-          "value": 81.9,
+          "value": 82.0,
           "unit": null
         },
         "jm_joint_HL_HipX_joint_rot_deg": {
-          "value": 29.957,
+          "value": 29.979,
           "unit": null
         },
         "jm_joint_HL_HipX_joint_trans_pct": {
-          "value": 38.74,
+          "value": 40.09,
           "unit": null
         },
         "jm_joint_HL_HipX_joint_bbox_m": {
@@ -1103,15 +1239,15 @@
           "unit": null
         },
         "jm_joint_HL_HipY_joint_rot_deg": {
-          "value": 152.967,
+          "value": 153.032,
           "unit": null
         },
         "jm_joint_HL_HipY_joint_trans_pct": {
-          "value": 106.93,
+          "value": 107.01,
           "unit": null
         },
         "jm_joint_HL_HipY_joint_bbox_m": {
-          "value": 0.3053,
+          "value": 0.3052,
           "unit": null
         },
         "jm_joint_HL_HipY_joint_pct_of_travel": {
@@ -1119,31 +1255,31 @@
           "unit": null
         },
         "jm_joint_HL_Knee_joint_rot_deg": {
-          "value": 130.975,
+          "value": 131.144,
           "unit": null
         },
         "jm_joint_HL_Knee_joint_trans_pct": {
-          "value": 192.75,
+          "value": 192.55,
           "unit": null
         },
         "jm_joint_HL_Knee_joint_bbox_m": {
-          "value": 0.3112,
+          "value": 0.3113,
           "unit": null
         },
         "jm_joint_HL_Knee_joint_pct_of_travel": {
-          "value": 81.9,
+          "value": 82.0,
           "unit": null
         },
         "jm_joint_HR_HipX_joint_rot_deg": {
-          "value": 29.976,
+          "value": 29.953,
           "unit": null
         },
         "jm_joint_HR_HipX_joint_trans_pct": {
-          "value": 55.69,
+          "value": 55.48,
           "unit": null
         },
         "jm_joint_HR_HipX_joint_bbox_m": {
-          "value": 0.1438,
+          "value": 0.1439,
           "unit": null
         },
         "jm_joint_HR_HipX_joint_pct_of_travel": {
@@ -1151,15 +1287,15 @@
           "unit": null
         },
         "jm_joint_HR_HipY_joint_rot_deg": {
-          "value": 152.959,
+          "value": 153.024,
           "unit": null
         },
         "jm_joint_HR_HipY_joint_trans_pct": {
-          "value": 92.83,
+          "value": 92.68,
           "unit": null
         },
         "jm_joint_HR_HipY_joint_bbox_m": {
-          "value": 0.3053,
+          "value": 0.3052,
           "unit": null
         },
         "jm_joint_HR_HipY_joint_pct_of_travel": {
@@ -1167,19 +1303,19 @@
           "unit": null
         },
         "jm_joint_HR_Knee_joint_rot_deg": {
-          "value": 130.978,
+          "value": 131.146,
           "unit": null
         },
         "jm_joint_HR_Knee_joint_trans_pct": {
-          "value": 172.08,
+          "value": 171.95,
           "unit": null
         },
         "jm_joint_HR_Knee_joint_bbox_m": {
-          "value": 0.3112,
+          "value": 0.3113,
           "unit": null
         },
         "jm_joint_HR_Knee_joint_pct_of_travel": {
-          "value": 81.9,
+          "value": 82.0,
           "unit": null
         },
         "jm_joints_total": {
@@ -1243,7 +1379,73 @@
           "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>/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": "joint_movement",
@@ -1251,11 +1453,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 55.385,
+      "duration": 54.576,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 9.385,
+          "value": 9.511,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1263,11 +1465,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 208.56,
+          "value": 211.35,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.697,
+          "value": 1.752,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1510,32 +1712,98 @@
           "value": "passed",
           "unit": null
         },
-        "jm_joint_HL_HipX_joint_status": {
-          "value": "passed",
-          "unit": null
+        "jm_joint_HL_HipX_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_HL_HipY_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_HL_Knee_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_HR_HipX_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_HR_HipY_joint_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_HR_Knee_joint_status": {
+          "value": "passed",
+          "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"
         },
-        "jm_joint_HL_HipY_joint_status": {
-          "value": "passed",
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
         },
-        "jm_joint_HL_Knee_joint_status": {
-          "value": "passed",
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
         },
-        "jm_joint_HR_HipX_joint_status": {
-          "value": "passed",
-          "unit": null
+        {
+          "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"
         },
-        "jm_joint_HR_HipY_joint_status": {
-          "value": "passed",
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
         },
-        "jm_joint_HR_Knee_joint_status": {
-          "value": "passed",
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
         }
-      },
-      "kit_logs": []
+      ]
     },
     {
       "test_name": "light_response",
@@ -1543,11 +1811,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 11.437,
+      "duration": 12.101,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 3.746,
+          "value": 3.846,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1555,11 +1823,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 124.88,
+          "value": 128.21,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.102,
+          "value": 1.125,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1603,11 +1871,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.738665,
+          "value": 0.736591,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.016867,
+          "value": 0.016821,
           "unit": null
         }
       },
@@ -1619,11 +1887,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 11.632,
+      "duration": 11.824,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 3.765,
+          "value": 3.724,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1631,11 +1899,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 125.51,
+          "value": 124.13,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.095,
+          "value": 1.131,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1679,11 +1947,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.737679,
+          "value": 0.73708,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.017963,
+          "value": 0.016668,
           "unit": null
         }
       },
@@ -1761,7 +2029,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 1.381,
+      "duration": 1.486,
       "message": "MIM: no PhysxMimicJointAPI found on any joint under the asset prim.\n\n  Found:    0 joints with PhysxMimicJointAPI applied\n  Expected: at least one revolute or prismatic joint with\n            PhysxMimicJointAPI:<axisToken> applied (rotX/rotY/rotZ\n            or transX/transY/transZ)\n\nFIX (if your asset has coupled joints, e.g. a parallel-jaw gripper\nwhere the two finger joints must move together):\n  1. Pick the driven joint and call it the REFERENCE joint. Leave\n     it with a normal drive (PhysicsDriveAPI or JointStateAPI).\n  2. On each FOLLOWER joint, apply PhysxMimicJointAPI keyed to that\n     joint's physics:axis instance token (e.g. \"rotX\" for a\n     revolute joint with physics:axis = \"X\").\n  3. Set physxMimicJoint:<axis>:gearing (non-zero) and\n     physxMimicJoint:<axis>:referenceJoint pointing at the\n     reference joint's prim path.\n  4. Both follower AND reference joints must have physics:lowerLimit\n     and physics:upperLimit authored, and neither may have\n     physics:excludeFromArticulation = true.\n\nPaste-ready USDA snippet (adapt paths, axis token, gearing sign,\nand limits to your asset):\n\n    # The follower joint: applies PhysxMimicJointAPI keyed to the axis\n    # token of the joint (rotX/rotY/rotZ for revolute, transX/transY/\n    # transZ for prismatic). The instance name MUST match physics:axis.\n    def PhysicsRevoluteJoint \"follower_joint\" (\n        prepend apiSchemas = [\"PhysxMimicJointAPI:rotX\"]\n    )\n    {\n        uniform token physics:axis = \"X\"\n        rel physics:body0 = <./path/to/parent_link>\n        rel physics:body1 = <./path/to/follower_link>\n        float physics:lowerLimit = -45.0   # required: limits must be authored\n        float physics:upperLimit =  45.0\n\n        # ---- PhysxMimicJointAPI:rotX attributes ----\n        # gearing: \u0394q_follower = gearing * \u0394q_reference + offset\n        # Must be a non-zero real number. Sign encodes direction:\n        # -1 = follower moves opposite the reference (typical for\n        # parallel-jaw grippers where one jaw mirrors the other).\n        float physxMimicJoint:rotX:gearing = -1.0\n        float physxMimicJoint:rotX:offset = 0.0\n        float physxMimicJoint:rotX:naturalFrequency = 100.0\n        float physxMimicJoint:rotX:dampingRatio = 0.0\n        # referenceJoint must point at a joint that does NOT itself\n        # carry PhysxMimicJointAPI (no chains/cycles).\n        rel physxMimicJoint:rotX:referenceJoint = <./path/to/reference_joint>\n    }\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n  Example:   sample_content/common_assets/robots_general/Robotiq/ezu_35/simready_isaac_usd/payloads/Physics/physx.usda\n             (search for: PhysxMimicJointAPI:rotX on GBA2_TRANS_2 / GBA3_TRANS_3 referencing Jaw_Drive with gearing = -1)\n\nNote: this test is SKIPPED (not failed) because mimic joints are\noptional. If your asset truly has no coupled joints, this skip is\nexpected and benign.",
       "metrics": {
         "mim_mimic_pairs_detected": {
@@ -1777,7 +2045,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 68.459,
+      "duration": 54.239,
       "message": "",
       "metrics": {
         "mjc_total_joints": {
@@ -1793,7 +2061,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 18.804,
+          "value": 16.453,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1801,11 +2069,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 229.32,
+          "value": 200.65,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 3.078,
+          "value": 2.838,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1829,7 +2097,73 @@
           "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>/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": "normals_xz",
@@ -1837,11 +2171,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.606,
+      "duration": 3.528,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.94,
+          "value": 0.872,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1849,11 +2183,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 117.49,
+          "value": 108.96,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.499,
+          "value": 0.485,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1869,11 +2203,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.002096,
+          "value": 0.001957,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.006677,
+          "value": 0.006702,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -1959,11 +2293,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.509,
+      "duration": 3.569,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.913,
+          "value": 0.915,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1971,11 +2305,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 114.13,
+          "value": 114.42,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.483,
+          "value": 0.522,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1991,11 +2325,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.002001,
+          "value": 0.002026,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.006614,
+          "value": 0.00662,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -2081,11 +2415,11 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 7.424,
+      "duration": 7.586,
       "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 85.6% from base (should be <10%).\nX-axis tilt causes ground penetration (min_z=-0.467).\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": 2.623,
+          "value": 2.639,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2093,11 +2427,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 131.17,
+          "value": 131.94,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.172,
+          "value": 1.196,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2215,11 +2549,11 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 7.807,
+      "duration": 7.399,
       "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 85.6% from base (should be <10%).\nX-axis tilt causes ground penetration (min_z=-0.467).\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": 2.794,
+          "value": 2.647,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2227,11 +2561,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 139.72,
+          "value": 132.37,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.142,
+          "value": 1.155,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2349,11 +2683,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.507,
+      "duration": 1.394,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.206,
+          "value": 0.226,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2361,7 +2695,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 103.07,
+          "value": 113.04,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2381,7 +2715,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.153852,
+          "value": 0.153867,
           "unit": null
         },
         "presence_passed": {
@@ -2463,11 +2797,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.275,
+      "duration": 1.364,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.22,
+          "value": 0.224,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2475,7 +2809,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 110.0,
+          "value": 111.93,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2495,7 +2829,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.153877,
+          "value": 0.153866,
           "unit": null
         },
         "presence_passed": {
@@ -2577,11 +2911,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.488,
+      "duration": 3.278,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.947,
+          "value": 0.822,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2589,7 +2923,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 236.68,
+          "value": 205.47,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2637,7 +2971,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 156848,
+          "value": 156918,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2723,11 +3057,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.596,
+      "duration": 3.54,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.973,
+          "value": 0.888,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2735,7 +3069,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 243.23,
+          "value": 221.93,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2783,7 +3117,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 156932,
+          "value": 156899,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2869,7 +3203,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 35.058,
+      "duration": 36.583,
       "message": "",
       "metrics": {
         "slope_drop_initial_cx": {
@@ -2889,7 +3223,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 10.175,
+          "value": 10.309,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2897,11 +3231,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 195.68,
+          "value": 198.26,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.912,
+          "value": 1.915,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2945,7 +3279,7 @@
           "unit": null
         },
         "slope_drop_max_clearance": {
-          "value": 0.014,
+          "value": 0.0249,
           "unit": "m"
         },
         "slope_drop_separation_frames": {
@@ -2953,15 +3287,81 @@
           "unit": null
         },
         "slope_drop_left_slope_frame": {
-          "value": 456,
+          "value": 452,
           "unit": null
         },
         "slope_drop_horiz_time": {
-          "value": 0.412,
+          "value": 0.408,
           "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>/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": "slope_drop",
@@ -2969,11 +3369,11 @@
       "engine_version": "6.1.0.0",
       "status": "fail",
       "passed": false,
-      "duration": 32.985,
-      "message": "Slope drop FAILED: The asset remained too far from the ramp after contact for 24 consecutive frame(s); peak clearance 0.2886m at frame 311. Review collision contact gaps, restitution, and the video for an upward launch.",
+      "duration": 33.457,
+      "message": "Slope drop FAILED: The asset remained too far from the ramp after contact for 24 consecutive frame(s); peak clearance 0.2446m at frame 336. Review collision contact gaps, restitution, and the video for an upward launch.",
       "metrics": {
         "slope_drop_initial_cx": {
-          "value": 0.0233,
+          "value": 0.0198,
           "unit": null
         },
         "slope_drop_initial_cy": {
@@ -2981,27 +3381,27 @@
           "unit": null
         },
         "slope_drop_initial_z_min": {
-          "value": 6.1379,
+          "value": 6.1313,
           "unit": null
         },
         "slope_drop_bbox_height": {
-          "value": 0.4923,
+          "value": 0.4979,
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 4.061,
+          "value": 4.371,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 20,
+          "value": 21,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 203.07,
+          "value": 208.13,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.974,
+          "value": 0.931,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3045,7 +3445,7 @@
           "unit": null
         },
         "slope_drop_max_clearance": {
-          "value": 0.2886,
+          "value": 0.2446,
           "unit": "m"
         },
         "slope_drop_separation_frames": {
@@ -3053,7 +3453,7 @@
           "unit": null
         },
         "slope_drop_separation_frame": {
-          "value": 311,
+          "value": 336,
           "unit": null
         },
         "slope_drop_horiz_time": {
@@ -3061,7 +3461,73 @@
           "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>/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": "state_accuracy",
@@ -3069,7 +3535,7 @@
       "engine_version": "6.1.0.0",
       "status": "fail",
       "passed": false,
-      "duration": 196.37,
+      "duration": 171.611,
       "message": "STA: 4/12 joints failed state accuracy.\n\nFAILING JOINTS: FL_Knee_joint, FR_Knee_joint, HL_Knee_joint, HR_Knee_joint\n\nWHAT WE FOUND:\n  At least one joint could not hold its commanded position within\n  the tolerance during the 5-waypoint test. Per-joint detail (max\n  position error in degrees, failed targets) is in the warnings\n  above and recorded as `sta_max_position_error_deg` in\n  result.json.\n\nFIX (in priority order):\n  1. Raise drive stiffness/damping on the failing joint(s). On\n     each joint prim, edit:\n         float drive:angular:physics:stiffness = <larger value>\n         float drive:angular:physics:damping   = <larger value>\n     For ARM/SCARA robots FET022 disables robot gravity per-body\n     during STA, so the drive only needs to overcome link inertia;\n     a few hundred N-m/rad is usually enough. If you see large\n     steady-state errors specifically on horizontal-axis joints,\n     the per-body gravity disable may have failed -- check the\n     `articulation.disable_gravity()` and `per-body\n     disable_gravity` events from RobotHandle.initialize in the\n     log.\n  2. If the joint oscillates instead of settling, raise damping\n     by 2-5x before raising stiffness further.\n  3. Verify authored position limits include the test waypoints.\n     The test commands joints to small +/-step targets around 0\n     by default; if 0 is outside your authored range, the test\n     cannot reach it. Edit `physics:lowerLimit` /\n     `physics:upperLimit` on the joint prim.\n  4. Inspect downstream mass. A heavy distal link causes upstream\n     joints to undershoot under default gains. Re-check\n     `physxRigidBody:mass` and `physxRigidBody:diagonalInertia`\n     on each downstream link.\n  5. Increase `test_duration_seconds` (default 3.0) only if the\n     joint is slow but does reach the target eventually.\n  6. Loosen `position_tolerance_deg` (default 5.0) only when\n     intentional steady-state error is acceptable for the asset.\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/\n               drive-joint-value-reasonable.md\n               physics-drive-and-joint-state.md\n               joint-has-joint-state-api.md\n  Example:   sample_content/common_assets/robots_general/ur10/simready_isaac_usd/payloads/Physics/physx.usda\n             (search for: drive:angular:physics:stiffness)",
       "metrics": {
         "sta_joints_with_limits": {
@@ -3089,19 +3555,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 73.575,
+          "value": 69.093,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 360,
+          "value": 346,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 204.37,
+          "value": 199.69,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 11.684,
+          "value": 10.901,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3129,7 +3595,7 @@
           "unit": null
         },
         "sta_max_position_error_deg": {
-          "value": 30.022981006288564,
+          "value": 30.02298442138315,
           "unit": null
         }
       },
@@ -3141,7 +3607,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 50.943,
+      "duration": 73.109,
       "message": "",
       "metrics": {
         "vel_joints_with_limits": {
@@ -3149,19 +3615,19 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 15.697,
+          "value": 23.951,
           "unit": null
         },
         "_timing_capture_frame_count": {
-          "value": 72,
+          "value": 121,
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 218.01,
+          "value": 197.94,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.748,
+          "value": 4.016,
           "unit": null
         },
         "_timing_encode_video_count": {

Lite3/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json

@@ -2,7 +2,7 @@
   "format_version": "1.0",
   "profile": "Package-Candidate",
   "profile_version": "1.0.0",
-  "timestamp": "2026-10-23T01:23:09",
+  "timestamp": "2026-10-23T01:55:11",
   "assets": [
     {
       "asset": "simready_usd/Lite3.usd",

Lite3/.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": "2026-10-23T01:23:09",
+  "timestamp": "2026-10-23T01:55:11",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

Lite3/.metadata/com.nvidia.simready.packaging.bom.json

@@ -27,11 +27,11 @@
     },
     {
       "relative_path": "simready_usd/Lite3.usd",
-      "size": 30521545,
+      "size": 30522577,
       "hash": {
-        "sha256-flat-1mb": "d7e2e77673e8585847fb5082cf7257c7c8d6d7aea8e7bdfed5a0c502d0357747",
-        "sha256": "44c9525f4002ea225bc18c6cfd1b81795c13d132ab9a1914cfde13e8ba89b51e",
-        "sha256-first1m": "0f91238502ddc9a486809b83a9bbd3b617e2cbf6cef2ea57d282dd143c1fa41e"
+        "sha256-flat-1mb": "00c0a3c142ce93477ee389ecb9c2d07996d07829a6ce7229a75e700cc6897f86",
+        "sha256": "4712c0cfe0bd5314f20a691e5fcdbc2bfcaef7f175188b8482999d6da7d165f3",
+        "sha256-first1m": "63e62579f62a246eadfd24df81d53c296ec02bbfdabea615379bec13ba89be3d"
       }
     },
     {

Lite3/com.nvidia.simready.packaging.json

@@ -6,13 +6,13 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "baa3ec219afdbc3ec45ee855ada53e38b5475545097e0025fd7ac3cfdea4e650"
+        "sha256": "be467a82968154f93796c1eaf55ad7f8232a5574fbf20140c7600cefb40712f6"
       }
     },
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "6f370c32d2508050e6453ca25ecb5cb96007b7a9af061c601ad57806ad1c35b5"
+        "sha256": "d7906328abc9a1b6827c02ce8effa7654fe91602b7e8d7bc81ed626dfd93d0cc"
       }
     },
     {
@@ -23,9 +23,9 @@
     }
   ],
   "content_hash": {
-    "sha256": "dd470579cc0eac63233e178c00b1d51239d6c50eeb8cbb5b9a4a29f12ca74770"
+    "sha256": "a259c4b99730ad3c2a6a0d4d02121dfc046b874a1c8b066fd324e1e19d27ef1a"
   },
   "package_hash": {
-    "sha256": "e9d06e099375a084eae86f88d0f8f2ff8e7efb51c97d226ddca3fd5ec6d81a98"
+    "sha256": "b9794daa1c215edd9d7e793c1ac15444b527a233fd31568b175b598750721f04"
   }
 }

Lite3/simready_usd/Lite3.usd

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:44c9525f4002ea225bc18c6cfd1b81795c13d132ab9a1914cfde13e8ba89b51e
-size 30521545
+oid sha256:4712c0cfe0bd5314f20a691e5fcdbc2bfcaef7f175188b8482999d6da7d165f3
+size 30522577