Document 8 robot packages, validation, and remaining runtime findings

README.md

@@ -29,11 +29,21 @@ runtime benchmark results, and original source license notices.
 | M20_Piper | Mobile manipulator | Existing OEM USD |
 | DR02-std | Humanoid | High-resolution OEM URDF |
 | DR02-pro | Humanoid with wrist joints and rubber hands | High-resolution OEM URDF |
-
-Lite3 was compared with the published Isaac Sim asset and excluded because its
-geometry and mass were unchanged. M20 and X30 are updates: their new sensor
-mounting frames preserve the source positions and rotations. These frames do
-not implement camera or lidar simulation.
+| Lite3 | Quadruped | New 20260821 OEM USD mechanics, local high-resolution visuals, three mounting frames |
+
+Lite3 is included following the newly supplied 20260821 source. Its USD mechanics
+match published Isaac Sim 6.2, while its three URDF mounting sites are new. The
+local high-resolution visuals are retained. The supplied USD/MJCF thigh centers
+of mass are preserved; the new URDF still records older values. Lite3, M20 and
+X30 mounting frames preserve source positions and rotations and do not implement
+camera or lidar simulation.
+
+Lite3 corrects four invalid source knee position-drive targets from 0 degrees to
+their unchanged OEM lower limit of 30.022985 degrees. This avoids Newton's
+midpoint fallback (approximately 94.996402 degrees). Drive gains, hardware
+torque caps, limits, masses, collisions and source geometry are retained.
+Controlled ground-drop checks pass on both engines; the final packaged runtime
+results remain authoritative, including unresolved slope findings.
 
 ## Simulation preparation
 
@@ -70,6 +80,11 @@ are explicit. X30's CAD hull and Piper's existing mesh colliders declare the
 Newton mesh collision schema. S10/M20S retain their existing self-collision
 setting; Piper retains the prior Newton importer default. These declarations
 restore backend validation and runtime test coverage without changing geometry.
+Lite3 explicitly preserves its source-disabled self-collision setting.
+
+The X30 state-accuracy benchmark commands three 0-degree waypoints outside its
+OEM knee minimum of about 20 degrees; the observed errors match that target
+mismatch. Original joint limits and official failed verdicts are retained.
 
 Newton runtime tests use the intended 1000-contact MuJoCo allocation. Dense
 robot contacts can exceed the SDK default of 200; allocate enough contact
@@ -94,5 +109,6 @@ Required validation and runtime verdicts are separate. Missing checks are not pa
 | M20_Piper | Pass | 3 fail, 15 missing, 18 pass, 2 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/8787930ba787d003a299e7afb6b9f453475f5d46/M20_Piper/com.nvidia.simready.packaging.json) |
 | DR02-std | Pass | 2 fail, 8 missing, 15 pass, 11 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/562708df7241c2b023fcfc90ada873d92a63e536/DR02-std/com.nvidia.simready.packaging.json) |
 | DR02-pro | Pass | 2 fail, 8 missing, 15 pass, 11 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/f47767b33160a3e7360d9c30ac506cbe4ed1ff88/DR02-pro/com.nvidia.simready.packaging.json) |
+| Lite3 | Pass | 5 fail, 6 missing, 20 pass, 5 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/988dab4362df53ec567f9a3bb4e78dfd3aaef064/Lite3/com.nvidia.simready.packaging.json) |
 
 Exact failure messages and engine names are retained in each package's `.metadata/<asset>_benchmark.json`.