Add SimReady package: DR02-pro

DR02-pro/.metadata/DR02-pro_benchmark.json

@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0",
   "asset": "DR02-pro",
-  "run_timestamp": "2026-10-22T19:02:25Z",
+  "run_timestamp": "2026-10-23T05:26:23Z",
   "passed": false,
   "results": [
     {
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 15.226,
+      "duration": 12.385,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.329,
+          "value": 1.915,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 145.55,
+          "value": 119.67,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.496,
+          "value": 1.102,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -42,15 +42,15 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.000661,
+          "value": 0.000429,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 0.000175,
+          "value": 7.2e-05,
           "unit": null
         },
         "culling_xz_worst_angle": {
-          "value": 90.0,
+          "value": 270.0,
           "unit": null
         },
         "culling_xz_passed": {
@@ -58,7 +58,73 @@
           "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": "culling_xz",
@@ -66,11 +132,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 16.397,
+      "duration": 12.316,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.381,
+          "value": 1.987,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -78,11 +144,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 148.79,
+          "value": 124.16,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.459,
+          "value": 1.153,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -98,15 +164,15 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.001837,
+          "value": 0.000946,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 0.000404,
+          "value": 0.000179,
           "unit": null
         },
         "culling_xz_worst_angle": {
-          "value": 45.0,
+          "value": 0.0,
           "unit": null
         },
         "culling_xz_passed": {
@@ -188,7 +254,7 @@
       "engine_version": "",
       "status": "fail",
       "passed": false,
-      "duration": 914.056,
+      "duration": 915.794,
       "message": "Test exceeded its declared max_duration of 300 seconds; the engine session was terminated (retries exhausted).",
       "metrics": {},
       "kit_logs": []
@@ -199,7 +265,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 7.314,
+      "duration": 6.878,
       "message": "DGV: no actively-driven joints found under /World/AssetRoot/Asset.\n  DOFs discovered:           31\n  Excluded as passive:       31 (no DriveAPI / stiffness <= 0)\n  Excluded as mimic follower:0 (driven by PhysxMimicJointAPI)\n  Drivable after filter:     0\n\nDGV runs a per-joint step input and measures overshoot, settling\ntime, and oscillation count. It needs at least one joint that has\nBOTH (i) UsdPhysicsDriveAPI applied with positive stiffness, and\n(ii) authored joint limits with non-zero range. Without that, the\ncontroller has nothing to drive.\n\nFIX (most common cause: missing PhysicsDriveAPI). On each actuated\nrevolute joint, apply DriveAPI and author stiffness / damping /\nmaxForce. Edit the prim in your USD file:\n\n    def PhysicsRevoluteJoint \"shoulder_pan_joint\" (\n        prepend apiSchemas = [\"PhysicsDriveAPI:angular\"]\n    )\n    {\n        rel physics:body0 = </Base>\n        rel physics:body1 = </ShoulderLink>\n        uniform token physics:axis = \"Z\"\n\n        # Joint limits (REQUIRED -- DGV skips joints with zero range)\n        float physics:lowerLimit = -180.0\n        float physics:upperLimit =  180.0\n\n        # Drive gains. Tune per-joint -- heavier proximal links\n        # need higher stiffness/damping than distal wrists.\n        # Starting envelope (DJ.006): stiffness ~100-10000,\n        # damping ~1-100; the UR10 reference asset uses values\n        # from ~7 (wrist 3) up to ~360000 (shoulder lift).\n        float drive:angular:physics:stiffness = 1000.0\n        float drive:angular:physics:damping   = 50.0\n        float drive:angular:physics:maxForce  = 1000.0\n        float drive:angular:physics:targetPosition = 0.0\n    }\n\nFor PRISMATIC joints use drive:linear:* (same scheme). For mimic\nfollowers leave drive stiffness/damping at 0.0 -- they get their\nposition from the reference joint via PhysxMimicJointAPI and are\nEXPECTED to be excluded from DGV.\n\nREFERENCE:\n  Spec:     nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/drive-joint-value-reasonable.md\n            (DJ.006: stiffness ~100-10000, damping ~1-100 as a\n             starting envelope; heavier links typically need higher\n             stiffness and proportionally higher damping.)\n  Schema:   UsdPhysicsDriveAPI on each actuated joint\n            (drive:angular:* for revolute, drive:linear:* for prismatic)\n  Example:  sample_content/common_assets/robots_general/ur10/simready_isaac_usd/payloads/Physics/physics.usda\n            (per-joint drive:angular:physics:stiffness / :damping /\n             :maxForce authored on each PhysicsRevoluteJoint)",
       "metrics": {
         "dgv_joints_tested": {
@@ -223,7 +289,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 7.554,
+      "duration": 7.123,
       "message": "EFF: No joints with authored position or effort limits to test under external force.\n  Asset:               /World/AssetRoot/Asset\n  Passive joints excluded:        31\n  Mimic-follower joints excluded: 0\n\nWHAT THE TEST NEEDS: at least one revolute or prismatic joint that has EITHER\n  - finite physics:lowerLimit + physics:upperLimit with (upper - lower) > 1e-6, OR\n  - a finite, positive drive:<linear|angular>:physics:maxForce.\n\nFIX: open each driven joint prim under /World/AssetRoot/Asset and ensure the drive + limits are authored.\nExample -- paste/edit on a revolute joint (values in newtons, radians):\n\n    def PhysicsRevoluteJoint \"joint_1\" (\n        prepend apiSchemas = [\"PhysxJointAPI\", \"PhysicsDriveAPI:angular\", \"PhysicsJointStateAPI:angular\"]\n    )\n    {\n        rel physics:body0 = </link_0>\n        rel physics:body1 = </link_1>\n        uniform token physics:axis = \"Y\"\n\n        # Required for EFF: positive maxForce so the controller can hold against pushes.\n        # Typical revolute arm joints: 50-300 N\u00b7m; base/shoulder larger, wrist smaller.\n        float drive:angular:physics:maxForce = 87.0\n        float drive:angular:physics:stiffness = 1000.0\n        float drive:angular:physics:damping   = 100.0\n\n        # Required for EFF break detection: real motion limits (radians for revolute,\n        # meters for prismatic). EFF flags a 'break' when the joint exceeds these by\n        # more than break_tolerance * range (default 10%).\n        float physics:lowerLimit = -2.8973\n        float physics:upperLimit =  2.8973\n    }\n\nIf every joint is genuinely fixed/passive (e.g., a static fixture), EFF is not\napplicable to this asset -- exclude it from the EFF profile in your test plan.\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": {
@@ -247,7 +313,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 7.508,
+      "duration": 7.016,
       "message": "FRS: No joints have valid position limits; the full-range sweep test cannot run.\n  Total DOF on articulation:      31\n  Passive joints excluded:        31\n\nWHAT THE TEST NEEDS: at least one active (non-passive) revolute or prismatic\njoint that declares finite, distinct position limits with (upper - lower) > 1e-3.\nJoints with missing, infinite, equal, or zero-width limits are silently skipped --\nif EVERY joint is in that state, FRS has nothing to sweep.\n\nFIX: open each driven joint prim under the articulation and author physics:lowerLimit\nand physics:upperLimit (radians for revolute, meters for prismatic). Units must\nmatch the joint type. Example -- paste/edit on a revolute joint:\n\n    def PhysicsRevoluteJoint \"joint_1\" (\n        prepend apiSchemas = [\"PhysxJointAPI\", \"PhysicsDriveAPI:angular\", \"PhysicsJointStateAPI:angular\"]\n    )\n    {\n        rel physics:body0 = </link_0>\n        rel physics:body1 = </link_1>\n        uniform token physics:axis = \"Y\"\n\n        # Required for FRS: finite, distinct limits with (upper - lower) > 1e-3.\n        # Typical revolute arm joints (radians): +/- 2.9 rad (~+/- 165 deg)\n        # Typical prismatic gripper finger (meters): 0.0 .. 0.04\n        float physics:lowerLimit = -2.8973\n        float physics:upperLimit =  2.8973\n\n        # FRS only sweeps joints with a working drive (so the commanded\n        # target actually moves the link). Author drive gains too:\n        float drive:angular:physics:stiffness = 1000.0\n        float drive:angular:physics:damping   = 100.0\n        float drive:angular:physics:maxForce  = 87.0\n        float physxJoint:maxJointVelocity     = 2.6\n    }\n\nIf every joint on this articulation is genuinely passive (e.g., a static fixture\nor a passive mimic-follower chain), FRS is not applicable -- exclude the asset from\nthe FRS profile in your test plan.\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             physics-joint-max-velocity.md    (DJ.005 -- maxJointVelocity > 0)\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: physics:lowerLimit, physics:upperLimit,\n              drive:angular:physics:stiffness)",
       "metrics": {
         "frs_total_dofs": {
@@ -275,7 +341,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 75.329,
+      "duration": 56.522,
       "message": "",
       "metrics": {
         "ground_drop_initial_z_min": {
@@ -291,7 +357,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 12.88,
+          "value": 10.482,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -299,11 +365,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 257.6,
+          "value": 209.65,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.389,
+          "value": 1.904,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -348,13 +414,144 @@
     {
       "test_name": "ground_drop",
       "engine": "isaac_sim_newton",
-      "engine_version": "",
-      "status": "fail",
-      "passed": false,
-      "duration": 421.286,
-      "message": "Engine session kit_1347800_4 crashed before the test could complete (retries exhausted).",
-      "metrics": {},
-      "kit_logs": []
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 192.907,
+      "message": "",
+      "metrics": {
+        "ground_drop_initial_z_min": {
+          "value": 2.6687,
+          "unit": null
+        },
+        "ground_drop_bbox_height": {
+          "value": 1.7945,
+          "unit": null
+        },
+        "ground_drop_effective_fall": {
+          "value": 2.5687,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 29.908,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 135,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 221.54,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 4.35,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "ground_drop_touched": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "ground_drop_stable": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_touch_time": {
+          "value": 0.717,
+          "unit": null
+        },
+        "ground_drop_rest_time": {
+          "value": 8.488,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/nvidia-submission/simready-tools/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
     },
     {
       "test_name": "ik_target_reach",
@@ -362,7 +559,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 8.68,
+      "duration": 8.217,
       "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.",
       "metrics": {},
       "kit_logs": []
@@ -373,7 +570,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 7.613,
+      "duration": 7.217,
       "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.",
       "metrics": {},
       "kit_logs": []
@@ -384,11 +581,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 151.229,
+      "duration": 117.306,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 13.09,
+          "value": 11.084,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -396,11 +593,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 290.88,
+          "value": 246.32,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.289,
+          "value": 1.898,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1056,11 +1253,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 72.828,
+      "duration": 69.375,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 10.173,
+          "value": 10.17,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1068,11 +1265,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 226.07,
+          "value": 225.99,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.934,
+          "value": 1.704,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1728,11 +1925,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 20.069,
+      "duration": 16.145,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.397,
+          "value": 3.788,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1740,11 +1937,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 146.57,
+          "value": 126.27,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.419,
+          "value": 1.066,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1760,7 +1957,7 @@
           "unit": null
         },
         "light_response_variation_ratio": {
-          "value": 0.586207,
+          "value": 0.551724,
           "unit": null
         },
         "light_response_blank_ratio": {
@@ -1780,7 +1977,7 @@
           "unit": null
         },
         "light_response_different_pairs": {
-          "value": 17,
+          "value": 16,
           "unit": null
         },
         "light_response_passed": {
@@ -1788,11 +1985,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.758393,
+          "value": 0.759037,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.025338,
+          "value": 0.025831,
           "unit": null
         }
       },
@@ -1804,11 +2001,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 19.593,
+      "duration": 15.772,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.44,
+          "value": 3.543,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1816,11 +2013,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 147.99,
+          "value": 118.11,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.495,
+          "value": 1.168,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1836,7 +2033,7 @@
           "unit": null
         },
         "light_response_variation_ratio": {
-          "value": 0.586207,
+          "value": 0.551724,
           "unit": null
         },
         "light_response_blank_ratio": {
@@ -1856,7 +2053,7 @@
           "unit": null
         },
         "light_response_different_pairs": {
-          "value": 17,
+          "value": 16,
           "unit": null
         },
         "light_response_passed": {
@@ -1864,81 +2061,15 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.758119,
+          "value": 0.75944,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.026433,
+          "value": 0.02598,
           "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": "mimic_joint",
@@ -1946,7 +2077,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 8.041,
+      "duration": 7.196,
       "message": "MIM: no NewtonMimicAPI found on any joint under the asset prim.\n\nThis test is not applicable when the mechanism has no coupled joints. For a Newton follower joint, apply NewtonMimicAPI, set newton:mimicJoint to the reference joint, and author finite newton:mimicCoef0/newton:mimicCoef1 values. The test is skipped, not failed, for an uncoupled articulation.",
       "metrics": {
         "mim_mimic_pairs_detected": {
@@ -1962,7 +2093,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 7.862,
+      "duration": 7.234,
       "message": "MJC skipped: asset has only 0/31 joints with finite position limits; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n  - Articulation DOFs reported by Isaac: 31\n  - DOFs with finite (lower, upper) and upper-lower > 1e-6: 0\n  - Required by MJC: >= 2 (each driven independently to a mid-range\n    target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n  MJC validates simultaneous multi-joint convergence under the PD\n  drive controller. A revolute joint authored without limits (or\n  with type='none', or as a continuous joint) has no mid-range\n  target the test can pick, so it cannot participate.\n\nFIX: On every joint you intend MJC to exercise, author finite\nposition limits on the matching axis. For PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in the stage's linear unit (typically meters).\nBoth must be finite and upperLimit > lowerLimit.\n\nTEMPLATE -- paste/edit on each joint prim. Pick limits that match\nthe real mechanical travel of the joint; do NOT use +-inf:\n\n    def PhysicsRevoluteJoint \"joint_1\"\n    {\n        uniform token physics:axis = \"Z\"\n        float physics:lowerLimit = -170.0   # degrees\n        float physics:upperLimit =  170.0   # degrees\n        # ... body0 / body1 / localPos0 / localPos1 ...\n    }\n\n    def PhysicsPrismaticJoint \"slider_1\"\n    {\n        uniform token physics:axis = \"X\"\n        float physics:lowerLimit = 0.0      # meters\n        float physics:upperLimit = 0.085    # meters\n        # ... body0 / body1 / localPos0 / localPos1 ...\n    }\n\nCHECKLIST per joint you expect MJC to drive:\n  - physics:axis is set (X / Y / Z).\n  - physics:lowerLimit and physics:upperLimit are BOTH finite.\n  - physics:upperLimit - physics:lowerLimit > 1e-6 (non-degenerate).\n  - Joint is reachable from the articulation root (otherwise Isaac\n    will not expose it as a DOF; see FET_024 for articulation\n    topology requirements).\n\nIf the joint is intentionally free-running (e.g. a passive wheel),\nexclude it from your articulation rather than leaving it limit-less.\n\nREFERENCE:\n  Spec (driven joints):  nv_core/sr_specs/docs/shared/features/FET_022-driven_joints.md\n  Spec (articulation):   nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_024-base_articulation.md\n  Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_isaac_usd/Robotiq_2F_85.usda\n           (search for: prepend apiSchemas = [\"PhysicsDriveAPI:angular\"])",
       "metrics": {
         "mjc_total_joints": {
@@ -1986,11 +2117,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 11.727,
+      "duration": 8.498,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.34,
+          "value": 0.917,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1998,11 +2129,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 167.56,
+          "value": 114.66,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.635,
+          "value": 0.488,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2018,11 +2149,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.001513,
+          "value": 0.001554,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.006288,
+          "value": 0.006349,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -2108,11 +2239,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 10.385,
+      "duration": 8.242,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.101,
+          "value": 0.889,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2120,11 +2251,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 137.68,
+          "value": 111.17,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.633,
+          "value": 0.511,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2140,11 +2271,11 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 0.001477,
+          "value": 0.001428,
           "unit": null
         },
         "normals_xz_max_dark": {
-          "value": 0.006009,
+          "value": 0.00629,
           "unit": null
         },
         "normals_xz_problem_frames": {
@@ -2230,11 +2361,11 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 16.542,
+      "duration": 12.959,
       "message": "Pivot/origin check did not meet the recommended score (score=0.00, 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 50.5% from base (should be <10%).\nPivot not centered in XY (offset=0.125, size=0.654).\nX-axis tilt causes ground penetration (min_z=-0.948).\nZ-rotation shows orbital motion (radius=0.125).\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": 3.327,
+          "value": 2.68,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2242,11 +2373,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 166.36,
+          "value": 133.98,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.506,
+          "value": 1.21,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2364,11 +2495,11 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 18.112,
+      "duration": 13.459,
       "message": "Pivot/origin check did not meet the recommended score (score=0.00, 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 50.5% from base (should be <10%).\nPivot not centered in XY (offset=0.125, size=0.654).\nX-axis tilt causes ground penetration (min_z=-0.948).\nZ-rotation shows orbital motion (radius=0.125).\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": 3.32,
+          "value": 2.745,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2376,11 +2507,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 165.98,
+          "value": 137.23,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.666,
+          "value": 1.181,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2498,11 +2629,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 7.749,
+      "duration": 6.216,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.26,
+          "value": 0.195,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2510,7 +2641,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 130.19,
+          "value": 97.62,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2530,7 +2661,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.094248,
+          "value": 0.094268,
           "unit": null
         },
         "presence_passed": {
@@ -2612,11 +2743,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 8.787,
+      "duration": 6.376,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.249,
+          "value": 0.213,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2624,7 +2755,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 124.36,
+          "value": 106.48,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2644,7 +2775,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.094265,
+          "value": 0.094259,
           "unit": null
         },
         "presence_passed": {
@@ -2726,11 +2857,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 5.173,
+      "duration": 3.794,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.116,
+          "value": 0.854,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2738,7 +2869,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 279.11,
+          "value": 213.52,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2786,7 +2917,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 98380,
+          "value": 98341,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2872,11 +3003,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 5.05,
+      "duration": 4.843,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.036,
+          "value": 0.955,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2884,7 +3015,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 259.09,
+          "value": 238.86,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2932,7 +3063,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 98280,
+          "value": 98276,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2944,7 +3075,73 @@
           "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": "slope_drop",
@@ -2952,7 +3149,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 85.158,
+      "duration": 66.116,
       "message": "",
       "metrics": {
         "slope_drop_initial_cx": {
@@ -2972,7 +3169,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 13.502,
+          "value": 12.528,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2980,11 +3177,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 236.89,
+          "value": 219.78,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.715,
+          "value": 2.208,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3048,7 +3245,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 97.833,
+      "duration": 86.682,
       "message": "",
       "metrics": {
         "slope_drop_initial_cx": {
@@ -3068,7 +3265,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 12.996,
+          "value": 11.606,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -3076,11 +3273,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 228.0,
+          "value": 203.62,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.431,
+          "value": 2.321,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -3210,7 +3407,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 7.477,
+      "duration": 7.276,
       "message": "STA cannot run: no testable joints after filtering.\n\nWHAT WE FOUND:\n  - passive joints (no UsdPhysics:DriveAPI authored): 31\n      left_hip_y_joint, left_hip_x_joint, left_hip_z_joint, left_knee_joint, left_ankle_y_joint, left_ankle_x_joint, right_hip_y_joint, right_hip_x_joint, right_hip_z_joint, right_knee_joint, right_ankle_y_joint, right_ankle_x_joint, waist_z_joint, waist_x_joint, waist_y_joint, left_shoulder_y_joint, left_shoulder_x_joint, left_shoulder_z_joint, left_elbow_joint, left_wrist_z_joint, left_wrist_y_joint, left_wrist_x_joint, neck_z_joint, neck_y_joint, right_shoulder_y_joint, right_shoulder_x_joint, right_shoulder_z_joint, right_elbow_joint, right_wrist_z_joint, right_wrist_y_joint, right_wrist_x_joint\n  - mimic-follower joints (PhysxMimicJointAPI -> reference): 0\n      (none)\n  - articulated joints with finite, non-degenerate limits and a\n    drive authored: 0\n\nWHAT WE EXPECTED:\n  At least one revolute or prismatic joint with:\n    1. finite lower/upper position limits where |hi - lo| >= 0.01 rad,\n    2. UsdPhysics:DriveAPI applied (angular for revolute,\n       linear for prismatic), and\n    3. no PhysxMimicJointAPI making it a follower of another joint.\n\nFIX: Apply DriveAPI on the joint(s) that should be actuated, with\nnon-zero stiffness and a reasonable target (typically 0 rad at\nrest pose). On the joint prim in your USD, paste:\n\n    over \"<joint_prim_name>\" (\n        prepend apiSchemas = [\"PhysicsDriveAPI:angular\",\n                              \"PhysicsJointStateAPI:angular\"]\n    )\n    {\n        # Position-control drive. Stiffness in N-m/rad for angular,\n        # N/m for linear. UR10 uses ~5,729,578 (1e8 deg/rad-ish);\n        # most arms want 1e4 to 1e6 N-m/rad.\n        float drive:angular:physics:stiffness = 100000.0\n        float drive:angular:physics:damping   = 10000.0\n        float drive:angular:physics:maxForce  = inf\n        float drive:angular:physics:targetPosition = 0.0\n\n        # Position limits in RADIANS for revolute, METERS for\n        # prismatic. Must be finite and span the test waypoints\n        # (default test commands +/-15 deg around 0).\n        float physics:lowerLimit = -3.14159\n        float physics:upperLimit =  3.14159\n\n        # JointStateAPI -- required for STA to read back the\n        # commanded position during the test.\n        float state:angular:physics:position = 0.0\n        float state:angular:physics:velocity = 0.0\n    }\n\nIf a joint is INTENTIONALLY passive (e.g. a free-spinning caster),\ntag it with `simready:joint:passive = true` so STA skips it without\ncounting it against the asset. If the asset is a pure-mimic\ngripper (every DOF is a follower), STA does not apply -- mark the\nreference joint with DriveAPI as above and let the followers be\ndriven by mimic.\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": {
@@ -3238,7 +3435,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 7.792,
+      "duration": 7.41,
       "message": "VEL: No joints carry an authored velocity limit; the velocity-limit test cannot run.\n\nWhat the test looked for (EITHER authoring form is accepted):\n  - `physxJoint:maxJointVelocity` on a PhysxJointAPI, OR\n  - `physxDrivePerformanceEnvelope:angular:maxActuatorVelocity`\n    (or `:linear:`) on a PhysxDrivePerformanceEnvelopeAPI,\n  set to a positive finite value on each driven (revolute /\n  prismatic) joint.\n  - At least one such joint that is NOT a passive or mimic-\n    follower joint (those are excluded -- their velocity is not\n    independently commandable).\n\n  UNITS: USD authors these in DEGREES/second for revolute joints\n  and distance/second for prismatic joints. (PhysX consumes\n  radians/second internally; the test converts deg->rad for you.)\n\nWhat was found:\n  - No joint carried either authored velocity limit, or every\n    joint that did is passive / mimic-followed.\n\nFIX: On every driven revolute/prismatic joint, author a positive\nfinite velocity limit matching the mechanism's datasheet rated\nspeed, in DEGREES/second (revolute) or distance/second\n(prismatic).\n\nPaste-ready USDA -- adjust the value to your joint's datasheet:\n\n    def PhysicsRevoluteJoint \"shoulder_pan_joint\" (\n        prepend apiSchemas = [\"PhysicsDriveAPI:angular\",\n                              \"PhysxJointAPI\"]\n    )\n    {\n        rel physics:body0 = </base_link>\n        rel physics:body1 = </shoulder_link>\n        uniform token physics:axis = \"Z\"\n        # Rated max speed in DEGREES/s (UR10 shoulder = 120 deg/s\n        # = ~2.09 rad/s).\n        float physxJoint:maxJointVelocity = 120\n    }\n\n    def PhysicsPrismaticJoint \"slide_joint\" (\n        prepend apiSchemas = [\"PhysicsDriveAPI:linear\",\n                              \"PhysxJointAPI\"]\n    )\n    {\n        rel physics:body0 = </base_link>\n        rel physics:body1 = </slide_link>\n        uniform token physics:axis = \"X\"\n        # Rated max speed, distance/s.\n        float physxJoint:maxJointVelocity = 1.0\n    }\n\nNotes:\n  - The same limit can also (or instead) be authored on the\n    actuator side as\n    `physxDrivePerformanceEnvelope:angular:maxActuatorVelocity`\n    (or `:linear:`), also in DEGREES/second for revolute; the\n    test takes the MIN of the two when both are present, so\n    author both consistently.\n  - If every joint in the articulation is passive or a mimic\n    follower, this phase has nothing to test -- add a velocity\n    limit on the master joint that drives the followers.\n\nREFERENCE:\n  Spec:    nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/physics-joint-max-velocity.md\n           (DJ.005 -- physxJoint:maxJointVelocity > 0 required on\n            every revolute/prismatic PhysX driven joint)\n  Example: sample_content/common_assets/robots_general/ur10/simready_isaac_usd/payloads/Physics/physx.usda\n           (search for: float physxJoint:maxJointVelocity = 120)",
       "metrics": {
         "vel_joints_skipped_passive": {

DR02-pro/.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": "2026-10-22T19:02:27",
+  "timestamp": "2026-10-23T05:26:25",
   "assets": [
     {
       "asset": "simready_usd/DR02-pro.usd",

DR02-pro/.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": "2026-10-22T19:02:27",
+  "timestamp": "2026-10-23T05:26:26",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

DR02-pro/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "22037bc9afb8e0097c0a126c4df0f41e823bb87b4408e6a6a80523735f5ef207"
+        "sha256": "5aa91d79227fab29f089f15541e893ba5fd083567a18157dc0414ff8eea38dea"
       }
     },
     {
@@ -26,6 +26,6 @@
     "sha256": "6debb22ca17f2ef409bc6ba6e02b2fb95cea70995c2b64990ea4c14f916c6cdb"
   },
   "package_hash": {
-    "sha256": "110ae31293b1dcab010570a3abb417ff255fef85a83501d5d416d4ac338096db"
+    "sha256": "1a9520cc2e7795c79ac94236ef33af3f87af5b0b83d3729e5b3c082c290abc4f"
   }
 }