Add SimReady package: franka_hand

franka_hand/.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": "2026-10-14T10:08:40",
+  "timestamp": "2026-10-16T07:57:36",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

franka_hand/.metadata/franka_hand_benchmark.json

@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0",
   "asset": "franka_hand",
-  "run_timestamp": "2026-10-14T10:08:40Z",
+  "run_timestamp": "2026-10-16T07:57:36Z",
   "passed": true,
   "results": [
     {
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 5.24,
+      "duration": 3.215,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.57,
+          "value": 1.147,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 98.15,
+          "value": 71.71,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.584,
+          "value": 0.54,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -46,7 +46,7 @@
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 6e-06,
+          "value": 4e-06,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -132,11 +132,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.071,
+      "duration": 3.105,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.51,
+          "value": 1.236,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -144,11 +144,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 94.37,
+          "value": 77.22,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.577,
+          "value": 0.525,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -164,15 +164,15 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 1.6e-05,
+          "value": 7.6e-05,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 6e-06,
+          "value": 1.5e-05,
           "unit": null
         },
         "culling_xz_worst_angle": {
-          "value": 315.0,
+          "value": 225.0,
           "unit": null
         },
         "culling_xz_passed": {
@@ -254,7 +254,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.598,
+      "duration": 7.08,
       "message": "",
       "metrics": {
         "display_color_asset_root": {
@@ -282,7 +282,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 0.415,
+          "value": 0.419,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -290,11 +290,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 83.07,
+          "value": 83.77,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.183,
+          "value": 0.185,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -310,31 +310,31 @@
           "unit": null
         },
         "display_color_silhouette_pixels": {
-          "value": 120673,
+          "value": 120687,
           "unit": null
         },
         "display_color_whole_frame_delta_pixels": {
-          "value": 120970,
+          "value": 120980,
           "unit": null
         },
         "display_color_read_mean_rgb": {
           "value": [
             0.1147,
             0.1151,
-            0.1146
+            0.1145
           ],
           "unit": null
         },
         "display_color_control_ratio": {
-          "value": 5.8e-05,
+          "value": 9.1e-05,
           "unit": null
         },
         "display_color_response_ratio": {
-          "value": 0.999992,
+          "value": 1.0,
           "unit": null
         },
         "display_color_opacity_ratio": {
-          "value": 0.999271,
+          "value": 0.999138,
           "unit": null
         }
       },
@@ -412,7 +412,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 5.428,
+      "duration": 5.673,
       "message": "",
       "metrics": {
         "display_color_asset_root": {
@@ -440,7 +440,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 0.379,
+          "value": 0.385,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -448,11 +448,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 75.72,
+          "value": 76.96,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.198,
+          "value": 0.189,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -468,23 +468,23 @@
           "unit": null
         },
         "display_color_silhouette_pixels": {
-          "value": 120687,
+          "value": 120694,
           "unit": null
         },
         "display_color_whole_frame_delta_pixels": {
-          "value": 120974,
+          "value": 120977,
           "unit": null
         },
         "display_color_read_mean_rgb": {
           "value": [
             0.1147,
             0.1151,
-            0.1146
+            0.1145
           ],
           "unit": null
         },
         "display_color_control_ratio": {
-          "value": 9.1e-05,
+          "value": 6.6e-05,
           "unit": null
         },
         "display_color_response_ratio": {
@@ -492,7 +492,7 @@
           "unit": null
         },
         "display_color_opacity_ratio": {
-          "value": 0.999271,
+          "value": 0.999171,
           "unit": null
         }
       },
@@ -504,7 +504,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 39.003,
+      "duration": 39.76,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -520,7 +520,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 13.731,
+          "value": 13.763,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -528,11 +528,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 91.54,
+          "value": 91.75,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.282,
+          "value": 2.371,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -564,7 +564,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 7.283,
+      "duration": 7.193,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -580,7 +580,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 1.231,
+          "value": 1.178,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -588,11 +588,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 102.6,
+          "value": 98.15,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.336,
+          "value": 0.306,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -624,7 +624,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 15.831,
+      "duration": 15.566,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -640,7 +640,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 4.478,
+          "value": 4.526,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -648,11 +648,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 93.3,
+          "value": 94.29,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.923,
+          "value": 0.896,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -680,73 +680,7 @@
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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": "effort_limit",
@@ -754,7 +688,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 27.539,
+      "duration": 27.573,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -770,7 +704,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 4.501,
+          "value": 4.498,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -778,11 +712,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 93.76,
+          "value": 93.71,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.884,
+          "value": 0.887,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -884,7 +818,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 25.602,
+      "duration": 26.804,
       "message": "",
       "metrics": {
         "frs_total_dofs": {
@@ -908,7 +842,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 5.702,
+          "value": 5.759,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -916,11 +850,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 95.04,
+          "value": 95.98,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.037,
+          "value": 1.103,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -944,73 +878,7 @@
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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": "full_range_sweep",
@@ -1018,7 +886,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 52.194,
+      "duration": 51.164,
       "message": "",
       "metrics": {
         "frs_total_dofs": {
@@ -1042,7 +910,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 5.441,
+          "value": 5.514,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1050,11 +918,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 90.69,
+          "value": 91.91,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.963,
+          "value": 1.125,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1086,7 +954,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.045,
+      "duration": 0.042,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "ground_drop_skipped": {
@@ -1102,7 +970,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.047,
+      "duration": 0.041,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "ground_drop_skipped": {
@@ -1118,7 +986,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.603,
+      "duration": 0.595,
       "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": []
@@ -1129,7 +997,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.558,
+      "duration": 0.548,
       "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": []
@@ -1140,7 +1008,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.596,
+      "duration": 0.581,
       "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": []
@@ -1151,7 +1019,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.556,
+      "duration": 0.626,
       "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": []
@@ -1162,11 +1030,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 29.922,
+      "duration": 26.005,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 5.341,
+          "value": 4.928,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1174,11 +1042,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 118.69,
+          "value": 109.51,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.776,
+          "value": 0.834,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1246,7 +1114,73 @@
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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",
@@ -1254,11 +1188,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 25.958,
+      "duration": 24.117,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.812,
+          "value": 4.702,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1266,11 +1200,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 106.94,
+          "value": 104.5,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.843,
+          "value": 0.844,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1338,38 +1272,104 @@
           "unit": null
         }
       },
-      "kit_logs": []
-    },
-    {
-      "test_name": "light_response",
-      "engine": "isaac_sim",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 6.331,
-      "message": "",
-      "metrics": {
-        "_timing_capture_frame_total_s": {
-          "value": 2.626,
-          "unit": null
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
         },
-        "_timing_capture_frame_count": {
-          "value": 30,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.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"
         },
-        "_timing_capture_frame_avg_ms": {
-          "value": 87.52,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
         },
-        "_timing_encode_video_total_s": {
-          "value": 0.551,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.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"
         },
-        "_timing_encode_video_count": {
-          "value": 1,
-          "unit": null
+        {
+          "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"
         },
-        "_render_blank_retry_count": {
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.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 \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 5.477,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.085,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 69.51,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.496,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
           "value": 0,
           "unit": null
         },
@@ -1378,7 +1378,7 @@
           "unit": null
         },
         "light_response_variation_ratio": {
-          "value": 0.517241,
+          "value": 0.482759,
           "unit": null
         },
         "light_response_blank_ratio": {
@@ -1398,7 +1398,7 @@
           "unit": null
         },
         "light_response_different_pairs": {
-          "value": 15,
+          "value": 14,
           "unit": null
         },
         "light_response_passed": {
@@ -1406,15 +1406,81 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.735959,
+          "value": 0.734282,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.009979,
+          "value": 0.009922,
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
     },
     {
       "test_name": "light_response",
@@ -1422,11 +1488,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.67,
+      "duration": 5.47,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.502,
+          "value": 2.036,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1434,11 +1500,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 83.39,
+          "value": 67.87,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.541,
+          "value": 0.51,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1482,15 +1548,81 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.735469,
+          "value": 0.736293,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.009659,
+          "value": 0.008702,
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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": "mimic_joint",
@@ -1498,7 +1630,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.647,
+      "duration": 0.651,
       "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": {
@@ -1514,7 +1646,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.549,
+      "duration": 0.538,
       "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": {
@@ -1530,7 +1662,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.061,
+      "duration": 6.119,
       "message": "",
       "metrics": {
         "mjc_total_joints": {
@@ -1546,7 +1678,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 1.663,
+          "value": 1.607,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1554,11 +1686,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 97.85,
+          "value": 94.52,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.393,
+          "value": 0.392,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1656,7 +1788,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 7.745,
+      "duration": 7.244,
       "message": "",
       "metrics": {
         "mjc_total_joints": {
@@ -1672,7 +1804,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 1.36,
+          "value": 1.357,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1680,11 +1812,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 90.64,
+          "value": 90.45,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.373,
+          "value": 0.377,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1716,11 +1848,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 2.08,
+      "duration": 1.91,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.673,
+          "value": 0.639,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1728,11 +1860,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 84.12,
+          "value": 79.9,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.258,
+          "value": 0.222,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1764,7 +1896,73 @@
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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",
@@ -1772,11 +1970,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 2.118,
+      "duration": 1.778,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.621,
+          "value": 0.536,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1784,11 +1982,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 77.69,
+          "value": 67.02,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.262,
+          "value": 0.237,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1804,7 +2002,7 @@
           "unit": null
         },
         "normals_xz_avg_dark": {
-          "value": 2e-05,
+          "value": 1.3e-05,
           "unit": null
         },
         "normals_xz_max_dark": {
@@ -1828,11 +2026,11 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 5.906,
+      "duration": 4.354,
       "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 18.8% from base (should be <10%).\nX-axis tilt causes ground penetration (min_z=-0.089).\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": 2.095,
+          "value": 1.729,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1840,11 +2038,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 104.73,
+          "value": 86.47,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.625,
+          "value": 0.568,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1863,32 +2061,98 @@
           "value": 0.2,
           "unit": null
         },
-        "pivot_pivot_height_pct": {
-          "value": 18.8,
-          "unit": null
+        "pivot_pivot_height_pct": {
+          "value": 18.8,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 0,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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"
         },
-        "pivot_pivot_at_base": {
-          "value": 0,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
         },
-        "pivot_pivot_centered_xy": {
-          "value": 1,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
         },
-        "pivot_ground_penetration": {
-          "value": 1,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"./opt/simready/.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"
         },
-        "pivot_orbital_motion": {
-          "value": 0,
-          "unit": null
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
         },
-        "pivot_passed": {
-          "value": 0,
-          "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": "pivot",
@@ -1896,11 +2160,11 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 5.694,
+      "duration": 4.144,
       "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 18.8% from base (should be <10%).\nX-axis tilt causes ground penetration (min_z=-0.089).\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": 2.025,
+          "value": 1.687,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1908,11 +2172,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 101.25,
+          "value": 84.37,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.633,
+          "value": 0.577,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2030,11 +2294,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 0.688,
+      "duration": 0.551,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.156,
+          "value": 0.135,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2042,7 +2306,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 78.18,
+          "value": 67.27,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2062,7 +2326,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.115128,
+          "value": 0.115068,
           "unit": null
         },
         "presence_passed": {
@@ -2070,7 +2334,73 @@
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
     },
     {
       "test_name": "presence",
@@ -2078,11 +2408,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 0.809,
+      "duration": 0.539,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.134,
+          "value": 0.122,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2090,7 +2420,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 67.06,
+          "value": 60.99,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2110,7 +2440,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.115098,
+          "value": 0.115105,
           "unit": null
         },
         "presence_passed": {
@@ -2118,7 +2448,73 @@
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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": "preview_surface_renders",
@@ -2126,11 +2522,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.316,
+      "duration": 1.36,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.446,
+          "value": 0.45,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2138,7 +2534,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 111.55,
+          "value": 112.52,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2186,7 +2582,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 120295,
+          "value": 120324,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2272,11 +2668,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.616,
+      "duration": 1.621,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.527,
+          "value": 0.588,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2284,7 +2680,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 131.74,
+          "value": 146.95,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2332,7 +2728,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 120353,
+          "value": 120340,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2352,7 +2748,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.057,
+      "duration": 0.048,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "slope_drop_skipped": {
@@ -2368,7 +2764,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.054,
+      "duration": 0.05,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "slope_drop_skipped": {
@@ -2384,7 +2780,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 25.967,
+      "duration": 25.992,
       "message": "",
       "metrics": {
         "sta_joints_with_limits": {
@@ -2404,7 +2800,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 9.541,
+          "value": 9.52,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2412,11 +2808,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 95.41,
+          "value": 95.2,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.651,
+          "value": 1.677,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2444,7 +2840,7 @@
           "unit": null
         },
         "sta_max_position_error_deg": {
-          "value": 0.5734079985122283,
+          "value": 0.5734084253990515,
           "unit": null
         }
       },
@@ -2456,7 +2852,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 17.655,
+      "duration": 18.356,
       "message": "",
       "metrics": {
         "sta_joints_with_limits": {
@@ -2476,7 +2872,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 4.314,
+          "value": 4.391,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2484,11 +2880,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 89.88,
+          "value": 91.48,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.815,
+          "value": 0.822,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2528,7 +2924,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 17.417,
+      "duration": 17.76,
       "message": "",
       "metrics": {
         "vel_joints_with_limits": {
@@ -2536,7 +2932,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 6.002,
+          "value": 6.038,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2544,11 +2940,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 100.03,
+          "value": 100.64,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.093,
+          "value": 1.067,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2580,7 +2976,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.888,
+      "duration": 6.936,
       "message": "",
       "metrics": {
         "vel_joints_with_limits": {
@@ -2588,7 +2984,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 1.187,
+          "value": 1.219,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2596,11 +2992,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 98.88,
+          "value": 101.58,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.327,
+          "value": 0.321,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2624,7 +3020,73 @@
           "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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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 \"./opt/simready/.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'"
+        }
+      ]
     }
   ]
 }

franka_hand/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "cdbdb8f8f3f9015b5268753a882f3d8ad59f9f018def4455d85320d6350b87cd"
+        "sha256": "e7f2789892ac79c33742cf681472795990dfb3e44d21ceded717c4bbe2e6ad47"
       }
     },
     {
@@ -26,6 +26,6 @@
     "sha256": "29b99d188788ef4eff9cda18274d8cf117c75b5dbda179796efd36de15204a87"
   },
   "package_hash": {
-    "sha256": "b17dbc58b3b4f3b050ecaec2e5ed19743cd10d2f01fabc9268a00c1316d3c7e6"
+    "sha256": "7e7a5aa960917f7551b04a4c5dcb64ba8223d31618c95292049bd6fec4abf0f7"
   }
 }