diff --git a/fanuc_m950_500f28a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m950_500f28a/.metadata/com.nvidia.simready.packaging.bom.json index fed9d3540bb767c568432245d93641bda2598871..955ff9c85e43096e85673076f9b5415c3fa9abe1 100644 --- a/fanuc_m950_500f28a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m950_500f28a/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m950_500f28a/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m950_500f28a/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m950_500f28a.usda.png", diff --git a/fanuc_m950_500f28a/.metadata/m950_500f28a_benchmark.json b/fanuc_m950_500f28a/.metadata/fanuc_m950_500f28a_benchmark.json similarity index 99% rename from fanuc_m950_500f28a/.metadata/m950_500f28a_benchmark.json rename to fanuc_m950_500f28a/.metadata/fanuc_m950_500f28a_benchmark.json index fa41bd00c639f08163f122d4b9be7410c0b431ce..efdef99f3a5a879a870e90bae236cf3024a3c7c6 100644 --- a/fanuc_m950_500f28a/.metadata/m950_500f28a_benchmark.json +++ b/fanuc_m950_500f28a/.metadata/fanuc_m950_500f28a_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m950_500f28a", + "asset": "fanuc_m950_500f28a", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m950_500f28a/.metadata/m950_500f28a_validation.json b/fanuc_m950_500f28a/.metadata/fanuc_m950_500f28a_validation.json similarity index 97% rename from fanuc_m950_500f28a/.metadata/m950_500f28a_validation.json rename to fanuc_m950_500f28a/.metadata/fanuc_m950_500f28a_validation.json index 4820a224ad2ca23caae5812c82e7542e2a2e8c4a..e8b6320c12823cea574171b0924ea863af7de8f3 100644 --- a/fanuc_m950_500f28a/.metadata/m950_500f28a_validation.json +++ b/fanuc_m950_500f28a/.metadata/fanuc_m950_500f28a_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m950_500f28a/com.nvidia.simready.packaging.json b/fanuc_m950_500f28a/com.nvidia.simready.packaging.json index e763164770013940e4e2f503c508060974f24e6f..5e1117cb885bd9224abea15cbf029bf0493cf377 100644 --- a/fanuc_m950_500f28a/com.nvidia.simready.packaging.json +++ b/fanuc_m950_500f28a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m950_500f28a.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m950_500f28a.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "c19e988f4a7a208a3dddb5b0b94833b3988722d72f23e27c4a76ed7696bc4e1c" + "sha256": "e6f85060ffce5f3336b6cea1e610bf265da140f125d2d5bf504ef011efd27c53" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "6803ae16c87227948ea72830fe1db588bfe6efa64f1a2087fdb953a90a8f722f" + "sha256": "e1d54fcf39608b21788c78db6706bc16c0a654e691a190bbfd9af850e39195de" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m950_500f28a_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "5f4009d97f2c809feeafd7c65940337a951974ef9903e5e8680bdb1bc10aa0b8" } }, { - "name": "m950_500f28a_benchmark.json", + "name": "fanuc_m950_500f28a_validation.json", "hash": { - "sha256": "669a60de43f67547689dd7a9a11cdae8d6d8e9adaea38683c94e9ca48a22bb0f" + "sha256": "6e96ece1cf3f33976aac48a2456166447b4998cbc2efd5f3509439fb3583e879" } }, { - "name": "m950_500f28a_validation.json", + "name": "license.txt", "hash": { - "sha256": "e365fd7630621d094c0aeb9804ce389d610a85716e6d5596fa6ac7d6ea161152" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "1be3aa1a5e81c2a74df9a39883b4ce5dc45999a697f7eaf2fc77f3b0f7669a97" }, "package_hash": { - "sha256": "7f91b79484d4a0649f6a4f530131665501539b214c7a2941f987accc1d2ca3ad" + "sha256": "833741dbdf6bf7f949d53695eda4c465052caa190266609dae1460df8acc29b8" } } diff --git a/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index a74eeaaecd386d15f701d86d4ee9ca759c3a7cf3..d47f856c437b03601a362341e0ed82b825f1e263 100644 --- a/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r1000ia_100f/.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": "2026-11-03T21:23:49", + "timestamp": "2026-11-03T23:34:17", "assets": [ { "asset": "r1000ia_100f.usda", diff --git a/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index c97ebf99d35b8779a9473a78d55cd57ec395c061..7da2769dfe59d35171b52392b719fa567da9bf79 100644 --- a/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:51", + "timestamp": "2026-11-03T23:34:19", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.packaging.bom.json index d21ccec59f2fafdf7ceacf5daa1c64052fbb795b..303d996543cdf7c8bd7e878a2ddb5671896d5730 100644 --- a/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r1000ia_100f/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r1000ia_100f/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r1000ia_100f.usda.png", diff --git a/fanuc_r1000ia_100f/.metadata/r1000ia_100f_benchmark.json b/fanuc_r1000ia_100f/.metadata/fanuc_r1000ia_100f_benchmark.json similarity index 99% rename from fanuc_r1000ia_100f/.metadata/r1000ia_100f_benchmark.json rename to fanuc_r1000ia_100f/.metadata/fanuc_r1000ia_100f_benchmark.json index 94cfb0c92abb13c9667a2f7c8122686f1139e97d..05833bac4379144309f8fbe1d96c8fb6dc42b2e3 100644 --- a/fanuc_r1000ia_100f/.metadata/r1000ia_100f_benchmark.json +++ b/fanuc_r1000ia_100f/.metadata/fanuc_r1000ia_100f_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r1000ia_100f", + "asset": "fanuc_r1000ia_100f", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r1000ia_100f/.metadata/r1000ia_100f_validation.json b/fanuc_r1000ia_100f/.metadata/fanuc_r1000ia_100f_validation.json similarity index 97% rename from fanuc_r1000ia_100f/.metadata/r1000ia_100f_validation.json rename to fanuc_r1000ia_100f/.metadata/fanuc_r1000ia_100f_validation.json index 0ea3a436801137acce749bb107e9940f4eb99a57..63695d4f83711c82d0535f3de096eb49fbe10e57 100644 --- a/fanuc_r1000ia_100f/.metadata/r1000ia_100f_validation.json +++ b/fanuc_r1000ia_100f/.metadata/fanuc_r1000ia_100f_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r1000ia_100f/com.nvidia.simready.packaging.json b/fanuc_r1000ia_100f/com.nvidia.simready.packaging.json index 23b6bffb8ac272da00ac90fadde552ad1a8ea589..23758963f32a880e6356d5e6713ab41d2fd3b65c 100644 --- a/fanuc_r1000ia_100f/com.nvidia.simready.packaging.json +++ b/fanuc_r1000ia_100f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_100f.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_100f.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "7c1918adac30e6a6ad4a294bd7354d0edf16d13ee91486d67d138b86c0778211" + "sha256": "e2d7fa0fbf80c9ae3afefb9be1e3c2eeda6260b3192df58012a4d8e257a45c03" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "0da7858ab20651f01a0e2edad911918e277ac1b147389e14fd5e7c44004232b0" + "sha256": "b13b759404c85a1843622882ba65f3f97586c191ddb1b0d4970964867ebc8dd0" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r1000ia_100f_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "9780a5b842ebf651ad04ac5017bc14c18063d9d437d5b051f4052992ff620a5d" } }, { - "name": "r1000ia_100f_benchmark.json", + "name": "fanuc_r1000ia_100f_validation.json", "hash": { - "sha256": "50ac60ccbc47c66f5efbd4bb08b9a7ff7ada5ff61ea26f292f030bec15239d19" + "sha256": "8427c9b8b8d5f26a31e7845dd197c63c520f3385e3bab408483bdc02ed88caab" } }, { - "name": "r1000ia_100f_validation.json", + "name": "license.txt", "hash": { - "sha256": "62b188e57d6ca0f655e14cfcd8c426d7ae0f1d9a6c19adc7be2116cdebfd5e3f" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "a9364704a7d171d375f0ba2b9ec96b4a59bd2746035106c903e6663c2eee8ef2" }, "package_hash": { - "sha256": "fdf5d5e70279276d3467b0efa946ca4fe4c40bfcce7691947f90d7ee7ecf3901" + "sha256": "7b5c9d865f149052fb97b822b2e438ee0444fb2bfaf6e49bb77cb2102f4e0b29" } } diff --git a/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index e0cdac8bbdc3421aa3b49b04d51239fc83bd01d8..673f30ce3dcaf2ad0175aefc2d13834052797d54 100644 --- a/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r1000ia_130f/.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": "2026-11-03T21:23:52", + "timestamp": "2026-11-03T23:34:20", "assets": [ { "asset": "r1000ia_130f.usda", diff --git a/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index be6173439c75b869c961523e231e9402bcd20dc1..054fb515a8276dcf11ac9df0e342d11528637d18 100644 --- a/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:55", + "timestamp": "2026-11-03T23:34:22", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.packaging.bom.json index ec1d5406ab91ab7b4a4f769561934757dd196450..4b92a617c6161d417ace6f94ae0e4c02877993e7 100644 --- a/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r1000ia_130f/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r1000ia_130f/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r1000ia_130f.usda.png", diff --git a/fanuc_r1000ia_130f/.metadata/r1000ia_130f_benchmark.json b/fanuc_r1000ia_130f/.metadata/fanuc_r1000ia_130f_benchmark.json similarity index 99% rename from fanuc_r1000ia_130f/.metadata/r1000ia_130f_benchmark.json rename to fanuc_r1000ia_130f/.metadata/fanuc_r1000ia_130f_benchmark.json index e72dda23b6ea1c1b6ddaa6cc97d61eef25344538..c44caab295c2bbbefe0c3e4e64e680a891bb056d 100644 --- a/fanuc_r1000ia_130f/.metadata/r1000ia_130f_benchmark.json +++ b/fanuc_r1000ia_130f/.metadata/fanuc_r1000ia_130f_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r1000ia_130f", + "asset": "fanuc_r1000ia_130f", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r1000ia_130f/.metadata/r1000ia_130f_validation.json b/fanuc_r1000ia_130f/.metadata/fanuc_r1000ia_130f_validation.json similarity index 97% rename from fanuc_r1000ia_130f/.metadata/r1000ia_130f_validation.json rename to fanuc_r1000ia_130f/.metadata/fanuc_r1000ia_130f_validation.json index daf27cba78441b5b32b771b3239dd219ddba4e41..5e8e95096ad9149e1bda7fe0d9d8335d464f1b97 100644 --- a/fanuc_r1000ia_130f/.metadata/r1000ia_130f_validation.json +++ b/fanuc_r1000ia_130f/.metadata/fanuc_r1000ia_130f_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r1000ia_130f/com.nvidia.simready.packaging.json b/fanuc_r1000ia_130f/com.nvidia.simready.packaging.json index 0bc10a662ac74023f8017d96a06bf2b400953ba1..74e2f126c7fadf8273d36b838d3a86c166a1f683 100644 --- a/fanuc_r1000ia_130f/com.nvidia.simready.packaging.json +++ b/fanuc_r1000ia_130f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_130f.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_130f.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "2eeb6d1fe3928de060ce6d923dcbe4e0400b428e0bb8c9eba19bd9e5e7c2180e" + "sha256": "6ef71062966dba36c582b490d307b8924025f4e4c43a2fbce65966836072f0ff" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "5d4ce6935c596a764be4a0794b27f740a90125ac2379f8b9ad7966960b977a94" + "sha256": "d0a3c0aeb8b4a36ddf730132c48e414f262f1bf6f962abefdbe4720d12a99dcb" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r1000ia_130f_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "4e794a5e4e480f1bf50e5310f011a726971074545f109c0ee86d8702150a6c87" } }, { - "name": "r1000ia_130f_benchmark.json", + "name": "fanuc_r1000ia_130f_validation.json", "hash": { - "sha256": "9762d4a73e7419f2ed0c631ba281711a555b29b8dff48ebfde30ba8aaaab632f" + "sha256": "12bf6db9b1a96bbc4df6b3a19f3e99bab85b82748f8bd5779d4dfc1e5bd0b3fa" } }, { - "name": "r1000ia_130f_validation.json", + "name": "license.txt", "hash": { - "sha256": "2cce8de71cc9c7ef1d51e48b29ee9d024fb7a5aa57d74ee97bcd87884846a7af" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "63759d43ecd03295b3e3f041b1d70ece8e3f85cee5f367075a543d88637ae261" }, "package_hash": { - "sha256": "1b713dfa9c8d1f55473f780dd14019481fc57b6bb03a6524509e71fb13eabab8" + "sha256": "3eeaf45c6a7f0332a12cf484ac71083bb19e5d995c9fbe43c25caa3b43e12020" } } diff --git a/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index a6499e8cdec8882306a396a6fe636066463366b4..c1ea4e8462c4c1d110233b9b276cec244bc8b9b3 100644 --- a/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r1000ia_80f/.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": "2026-11-03T21:23:56", + "timestamp": "2026-11-03T23:34:23", "assets": [ { "asset": "r1000ia_80f.usda", diff --git a/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index bc1e20bc27579a22f3336dce0c0887e462d4968c..5dc2c9401c2c0e9ecd9112c85377ded874e4501e 100644 --- a/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:59", + "timestamp": "2026-11-03T23:34:25", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.packaging.bom.json index 9752a12915f97d5d9ec0bb46abb1fb0a3601a781..55833931b5a75e44da75c57454c8b280a697081f 100644 --- a/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r1000ia_80f/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r1000ia_80f/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r1000ia_80f.usda.png", diff --git a/fanuc_r1000ia_80f/.metadata/r1000ia_80f_benchmark.json b/fanuc_r1000ia_80f/.metadata/fanuc_r1000ia_80f_benchmark.json similarity index 99% rename from fanuc_r1000ia_80f/.metadata/r1000ia_80f_benchmark.json rename to fanuc_r1000ia_80f/.metadata/fanuc_r1000ia_80f_benchmark.json index db18a4caf87e4bfe14df3cd0758490bafd104427..eee1ffe6ec97b9a1b5dc934a933bb50b61f4a35e 100644 --- a/fanuc_r1000ia_80f/.metadata/r1000ia_80f_benchmark.json +++ b/fanuc_r1000ia_80f/.metadata/fanuc_r1000ia_80f_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r1000ia_80f", + "asset": "fanuc_r1000ia_80f", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r1000ia_80f/.metadata/r1000ia_80f_validation.json b/fanuc_r1000ia_80f/.metadata/fanuc_r1000ia_80f_validation.json similarity index 97% rename from fanuc_r1000ia_80f/.metadata/r1000ia_80f_validation.json rename to fanuc_r1000ia_80f/.metadata/fanuc_r1000ia_80f_validation.json index bd7c083d535d1a2227b191f001dbbc3d4b938f7e..058b4df9d47d51c9ac489c5545c8ec6af89f5534 100644 --- a/fanuc_r1000ia_80f/.metadata/r1000ia_80f_validation.json +++ b/fanuc_r1000ia_80f/.metadata/fanuc_r1000ia_80f_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r1000ia_80f/com.nvidia.simready.packaging.json b/fanuc_r1000ia_80f/com.nvidia.simready.packaging.json index 8f4d908128af330d0f2b2349dfc00eb59c865356..da801ed3aa54c27b3aef6b692f987609f8bcfd3a 100644 --- a/fanuc_r1000ia_80f/com.nvidia.simready.packaging.json +++ b/fanuc_r1000ia_80f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_80f.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_80f.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "76a5220125d1296c056217523fcee7044119a29e21a505f1a059bbf9d4b11503" + "sha256": "2bbc9e9f79a5e54d6a0a2913f047496127f5f5ce72092ceba76aae72c2612368" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "08739ee693fb1dba33695b633b7aef7d6d24a0e1df52fe9e60936b10738c4a11" + "sha256": "19bba9167fedace78d53009163dee147b750485a89a505e8a9c9bb68332b018d" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r1000ia_80f_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "218724b6d18c774cd203175ca62d67f5362cc9f318fd33e34a7be52fe5c064f0" } }, { - "name": "r1000ia_80f_benchmark.json", + "name": "fanuc_r1000ia_80f_validation.json", "hash": { - "sha256": "9fc44035c628369183fd74fe35e6f7850cb69c7f0c497b954a457c0da94cfa44" + "sha256": "4e52ec803fa9e293e23bb8f42f5ec43fe4086c948744c8338d80f95678a2c1b4" } }, { - "name": "r1000ia_80f_validation.json", + "name": "license.txt", "hash": { - "sha256": "becfd711659e1d384ed641157efdd7a3306f09326bd0873e83b437ed2bbacc14" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "1b73a9dc88cb894f8abfd89a42f852f1e8d6e011476904eb7ae9628f9ca5e020" }, "package_hash": { - "sha256": "1d89e0e902d2dfc69a6d1db3025cb3110b10e6dfd8cc50ac21912d4e48a2ac6a" + "sha256": "c7a2136b6643b4c6953a8a9a900ec7a61d85a35565067414c896d0294bb6e2fb" } } diff --git a/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index b15ba8f9a179b935dc67d2f2afe87cf85721dcff..b618ade989c348e1cf77c1a83cd8a0d712bbf69a 100644 --- a/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_100p/.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": "2026-11-03T21:24:00", + "timestamp": "2026-11-03T23:34:26", "assets": [ { "asset": "r2000ic_100p.usda", diff --git a/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index e031a601f4d0ff535099be74c34de24368378e98..3780e7c0ddbf51d0728d375621bfcbd68295625f 100644 --- a/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:02", + "timestamp": "2026-11-03T23:34:28", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.packaging.bom.json index c28be8284a52df4bf3183efe6e0a0e9ca628186c..6f00faffa74944da3e6a06fd05a80a6eab3f2d9f 100644 --- a/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_100p/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_100p/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_100p.usda.png", diff --git a/fanuc_r2000ic_100p/.metadata/r2000ic_100p_benchmark.json b/fanuc_r2000ic_100p/.metadata/fanuc_r2000ic_100p_benchmark.json similarity index 99% rename from fanuc_r2000ic_100p/.metadata/r2000ic_100p_benchmark.json rename to fanuc_r2000ic_100p/.metadata/fanuc_r2000ic_100p_benchmark.json index 06ad357f2b97cd22527d926adbf2d4e814dc280a..597d7005ce921a66efa759258c581c8a90f7a97e 100644 --- a/fanuc_r2000ic_100p/.metadata/r2000ic_100p_benchmark.json +++ b/fanuc_r2000ic_100p/.metadata/fanuc_r2000ic_100p_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_100p", + "asset": "fanuc_r2000ic_100p", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_100p/.metadata/r2000ic_100p_validation.json b/fanuc_r2000ic_100p/.metadata/fanuc_r2000ic_100p_validation.json similarity index 97% rename from fanuc_r2000ic_100p/.metadata/r2000ic_100p_validation.json rename to fanuc_r2000ic_100p/.metadata/fanuc_r2000ic_100p_validation.json index 02f650cac808ea9ed38dd2c1549f857a33d9c898..2df9d21efb501b56d5842ddf3e24ad63a42ce406 100644 --- a/fanuc_r2000ic_100p/.metadata/r2000ic_100p_validation.json +++ b/fanuc_r2000ic_100p/.metadata/fanuc_r2000ic_100p_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_100p/com.nvidia.simready.packaging.json b/fanuc_r2000ic_100p/com.nvidia.simready.packaging.json index 06d13a8352a911f86387d9e22c9cd5ecfd49c2ee..09aca68b4becaf78047958565dd84eaa204bd466 100644 --- a/fanuc_r2000ic_100p/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_100p/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_100p.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_100p.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "e14d63e32f889c7efdfd4ebf5ad5f1cb8462b90b8cd344e5ac31b36057f0e206" + "sha256": "66986caa60f6d39e4b08ab2b549d9c7e26d77df1b6fb4781bd7cf61e24fbc28e" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "8e9392b1477b87db0c51ed9a8305eafe61d1456e9a08fc23f3df9253cf2dd1e3" + "sha256": "99ee219ebdef3d8ca4e40d84719740c587a05cc5d84df54e78559265167806b2" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_100p_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "4e9c6a55facfb2b9f78a7e63f819c265e90e71bf51503975e679e69abe1a95f5" } }, { - "name": "r2000ic_100p_benchmark.json", + "name": "fanuc_r2000ic_100p_validation.json", "hash": { - "sha256": "854b735c9566544a8779df5237867cee9ebc3c95bdd815a3be243bf1a6309f71" + "sha256": "1ce442c8fe9d9419526ccb5648aeabac7ee8254b06bf02cde9158424fed43ab7" } }, { - "name": "r2000ic_100p_validation.json", + "name": "license.txt", "hash": { - "sha256": "7a6190e6b0477375b1fbab91ba79d57d4e5485a5c955453234bebfa9ecd07899" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "a091841462351d24dc708ffcd3f16320987093d6dbff1bf52dd58c7cf8bddaf1" }, "package_hash": { - "sha256": "d38992429bf2f89443d798376767a8d73b92a17953792921f262c0ad99ed17ea" + "sha256": "94a10f48474382bcf6c0a2c3e4ebd27a5cd33e11aba720c879dceb1da2ce1b47" } } diff --git a/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 459b587d128090d29d95ef656c0d95f2cabc25ff..a9665fad6973d57efc59bc66b9dbc06f628cafa0 100644 --- a/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_100ph/.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": "2026-11-03T21:24:04", + "timestamp": "2026-11-03T23:34:29", "assets": [ { "asset": "r2000ic_100ph.usda", diff --git a/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index d69d576f07f1d9f46a4332e8ccd3ddfd0e163afb..1ce0470b5cbf0a677168215322561a647e6cc81e 100644 --- a/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:07", + "timestamp": "2026-11-03T23:34:31", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.packaging.bom.json index b185761d06ffbcc7bf02875b883d21d0866ff94b..8bb6132514368198d97a0ec4b4efef80bca56945 100644 --- a/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_100ph/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_100ph/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_100ph.usda.png", diff --git a/fanuc_r2000ic_100ph/.metadata/r2000ic_100ph_benchmark.json b/fanuc_r2000ic_100ph/.metadata/fanuc_r2000ic_100ph_benchmark.json similarity index 99% rename from fanuc_r2000ic_100ph/.metadata/r2000ic_100ph_benchmark.json rename to fanuc_r2000ic_100ph/.metadata/fanuc_r2000ic_100ph_benchmark.json index 0f36e7a3c7421b7ae3f26673bec51f39e81bc6bf..13a6e372166db9574ea056008b7325944e01efdf 100644 --- a/fanuc_r2000ic_100ph/.metadata/r2000ic_100ph_benchmark.json +++ b/fanuc_r2000ic_100ph/.metadata/fanuc_r2000ic_100ph_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_100ph", + "asset": "fanuc_r2000ic_100ph", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_100ph/.metadata/r2000ic_100ph_validation.json b/fanuc_r2000ic_100ph/.metadata/fanuc_r2000ic_100ph_validation.json similarity index 97% rename from fanuc_r2000ic_100ph/.metadata/r2000ic_100ph_validation.json rename to fanuc_r2000ic_100ph/.metadata/fanuc_r2000ic_100ph_validation.json index ea3b0e1159b26851ac3a3666a5fcc21d040229f7..3ec313a31c568603a7e620848e7b6cb74e3b1e43 100644 --- a/fanuc_r2000ic_100ph/.metadata/r2000ic_100ph_validation.json +++ b/fanuc_r2000ic_100ph/.metadata/fanuc_r2000ic_100ph_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_100ph/com.nvidia.simready.packaging.json b/fanuc_r2000ic_100ph/com.nvidia.simready.packaging.json index dc1afd0774eb743b3ab86c961db8276c0b48006f..ca010ad9ab3443b1f229c6b6fa795366d7fa27bf 100644 --- a/fanuc_r2000ic_100ph/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_100ph/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_100ph.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_100ph.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "6d99fc7e1d28da13258f16a3bb4b4ba0cdc27567219fcb9c830092bed9e20204" + "sha256": "7da348666a689d5d73ea31234149929c60c48ee704c32b91c5b3bff1d7b619ce" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "d9d1d17416fe243069d11313fd4a15a1cea3aace6c7d0f4d596a10b1b93068f2" + "sha256": "5699c1f3ee77baa4c318141f8d22d95023f4047b3d60ab409601ea8d198aa021" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_100ph_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "2dbf8207589248cf9fff62b2495dfdecaa2cdaeb902798d2c184fd7071e7479f" } }, { - "name": "r2000ic_100ph_benchmark.json", + "name": "fanuc_r2000ic_100ph_validation.json", "hash": { - "sha256": "4ad52f2142d5ded6ef41ff9cb39c19bae52fa751547e7b566c3ef0b888a9dec2" + "sha256": "25c3d3330f645800fbb649b4790f6e51176345d5c1229c3ed379c3e84454a332" } }, { - "name": "r2000ic_100ph_validation.json", + "name": "license.txt", "hash": { - "sha256": "6ad7f4658c74117165d451c8ff96fb6bb3cfdebc2fedece19799f2a229fd2e98" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "f6c3f58690156ac864bb7f48fd32287a419ec0acdcc5d24038258e048c41aa51" }, "package_hash": { - "sha256": "1cb5eb667f653e43dd0264a2e30bb64c3c1858f174454019f60b3cdbd6b701e8" + "sha256": "d0d759c966659abae5a2c6490248da29b2720ccf109d30c5b7e334ee7ebeb231" } } diff --git a/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 27838c775894ea98cf0575012efb3ab97582fc8a..9fa552ebd4bf7d7d266c9a1ee95e8dc687eb0102 100644 --- a/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_125l/.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": "2026-11-03T21:24:08", + "timestamp": "2026-11-03T23:34:32", "assets": [ { "asset": "r2000ic_125l.usda", diff --git a/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index d84adcf3e21256a3f88c7a0ffddebedccba5cd85..36b5c221515c24d470442be77002f916b021904f 100644 --- a/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:10", + "timestamp": "2026-11-03T23:34:34", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.packaging.bom.json index 12f9b5ec6089bee371eddabf08b963be25d575e2..49ee68acc23379c4512b49f0b1c45a4a90e93060 100644 --- a/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_125l/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_125l/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_125l.usda.png", diff --git a/fanuc_r2000ic_125l/.metadata/r2000ic_125l_benchmark.json b/fanuc_r2000ic_125l/.metadata/fanuc_r2000ic_125l_benchmark.json similarity index 99% rename from fanuc_r2000ic_125l/.metadata/r2000ic_125l_benchmark.json rename to fanuc_r2000ic_125l/.metadata/fanuc_r2000ic_125l_benchmark.json index 6d3ef86e72fab66c78c37cb75acf1fe80d77904a..47ae84bf93b489e0808d8f71374caa709ed64285 100644 --- a/fanuc_r2000ic_125l/.metadata/r2000ic_125l_benchmark.json +++ b/fanuc_r2000ic_125l/.metadata/fanuc_r2000ic_125l_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_125l", + "asset": "fanuc_r2000ic_125l", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_125l/.metadata/r2000ic_125l_validation.json b/fanuc_r2000ic_125l/.metadata/fanuc_r2000ic_125l_validation.json similarity index 97% rename from fanuc_r2000ic_125l/.metadata/r2000ic_125l_validation.json rename to fanuc_r2000ic_125l/.metadata/fanuc_r2000ic_125l_validation.json index 216c6e74bfd3e452c86d717c8fe639722294c8d9..859dabb9265100dfa30368f3319f47edd0e9ec97 100644 --- a/fanuc_r2000ic_125l/.metadata/r2000ic_125l_validation.json +++ b/fanuc_r2000ic_125l/.metadata/fanuc_r2000ic_125l_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_125l/com.nvidia.simready.packaging.json b/fanuc_r2000ic_125l/com.nvidia.simready.packaging.json index da3cde167aa0b4d7203d86b4b15c9c2317a1e2f2..221415db9e0021deb137c41b741d1e7e247bc354 100644 --- a/fanuc_r2000ic_125l/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_125l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_125l.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_125l.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "9c4b93e72a5a0d72a6c5d93d34f8a080ec9e21c569aec727235dc3c0eb07efef" + "sha256": "705df73603533f83976fba9d9942c4e3400325bee299213e635fbbe9f8ee5147" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "919df52e05c53ba1d0e1dd4aba18e30ba37ecffd21dfd0a8eeb14c699112b332" + "sha256": "fd1d7aefd91be963f2ee4f69d48a4dd8a40f4c4e696513f99a3952e9b783d0a0" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_125l_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "78c370705c518ef2fb10cb8d6c1e075ba340e5a6cb52e25248c59d155daa52bb" } }, { - "name": "r2000ic_125l_benchmark.json", + "name": "fanuc_r2000ic_125l_validation.json", "hash": { - "sha256": "3892220374517a42c62fd1061edd71db5203f01b643cb4a38f13760654661b2d" + "sha256": "24ad5b5e6db2fcdb632120de84f977a0afbd43587ad54c4b8955c1584a3d1911" } }, { - "name": "r2000ic_125l_validation.json", + "name": "license.txt", "hash": { - "sha256": "774c0295b126b6793ccda56f3f10d383609ff004fe465702c441901af6ec449a" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "32b38d79bf1f5f61fc3187d76dfab8c08691941719a72992057296d05e248063" }, "package_hash": { - "sha256": "f381aeac7325da9f8001735c2493b94c121f26e5f4583d81cf55e679ee8be71f" + "sha256": "95fe5af7e1086af3f2119587b3e14d43a625183ac92a07404ea40add2e1e36b8" } } diff --git a/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index f11167d1cc4f2f8f4d1e9b9be9a58dbae248b9ac..41eae27788d604370303033792b06dfe983cbc70 100644 --- a/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_165f/.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": "2026-11-03T21:24:12", + "timestamp": "2026-11-03T23:34:35", "assets": [ { "asset": "r2000ic_165f.usda", diff --git a/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 37693d44ad4ad8ca886f2edd69f334ff41fc6a02..1c240ed9a09239ff0ecb5dd1e389c35535164360 100644 --- a/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:14", + "timestamp": "2026-11-03T23:34:37", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.packaging.bom.json index 711db45a95497a457805c883cb5c6c71d826e13b..1e490e8b4d20d7298a1cec6025ffde4463d80fdb 100644 --- a/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_165f/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_165f/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_165f.usda.png", diff --git a/fanuc_r2000ic_165f/.metadata/r2000ic_165f_benchmark.json b/fanuc_r2000ic_165f/.metadata/fanuc_r2000ic_165f_benchmark.json similarity index 99% rename from fanuc_r2000ic_165f/.metadata/r2000ic_165f_benchmark.json rename to fanuc_r2000ic_165f/.metadata/fanuc_r2000ic_165f_benchmark.json index 56f56055b42d728ba1d437b6faa90b6a94b6d708..1f887582b37bdf03aa68961bc13149673bc65362 100644 --- a/fanuc_r2000ic_165f/.metadata/r2000ic_165f_benchmark.json +++ b/fanuc_r2000ic_165f/.metadata/fanuc_r2000ic_165f_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_165f", + "asset": "fanuc_r2000ic_165f", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_165f/.metadata/r2000ic_165f_validation.json b/fanuc_r2000ic_165f/.metadata/fanuc_r2000ic_165f_validation.json similarity index 97% rename from fanuc_r2000ic_165f/.metadata/r2000ic_165f_validation.json rename to fanuc_r2000ic_165f/.metadata/fanuc_r2000ic_165f_validation.json index 8c454bd39e6c43a9d21d7d806167284b736233d9..4ef520420c594b631da7739a65acace2e2273261 100644 --- a/fanuc_r2000ic_165f/.metadata/r2000ic_165f_validation.json +++ b/fanuc_r2000ic_165f/.metadata/fanuc_r2000ic_165f_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_165f/com.nvidia.simready.packaging.json b/fanuc_r2000ic_165f/com.nvidia.simready.packaging.json index e6e5c48a8d7cd31f85ba7ffef4e7492aebb835fc..50a5e7794f5b7b0e37ae569063c44094971c76ad 100644 --- a/fanuc_r2000ic_165f/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_165f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_165f.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_165f.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "d417e6c9110f9a79e0aa4fda2c480369d664c441db81276e93a95277f2d3067c" + "sha256": "f6752aa0d9bc15a7661fb27fa003a6019decb4ff4ce6cfa2b7a6d9170fc7150f" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "2d2414a35233da1799d660ea138fe176d71259b4b0b45964fa41394546a68fbe" + "sha256": "227ce29b0002215f403d5b96a35c3beeba15ff3baf9b1f0187aeecff0314f35c" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_165f_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "6080aa92d1f29b5d747c32e8aa7bc06e928cde5660f6f1547666ff560e6cdefa" } }, { - "name": "r2000ic_165f_benchmark.json", + "name": "fanuc_r2000ic_165f_validation.json", "hash": { - "sha256": "869b4d7db6791932167f1e2550bc1591690e3f5b7da60d0ebc7b6c6d92384084" + "sha256": "e8784ff374ec6f44181b57e2a42c67f99725156b29eee34db955e9b59851088f" } }, { - "name": "r2000ic_165f_validation.json", + "name": "license.txt", "hash": { - "sha256": "c07553bc67eabe253a4a61f032a3f0dfa20e25107ac114d7fe8e7174fb9ec4fd" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "ef389eff5efdf5ea55b2cf0de30b9840351e3f6f0007ee644bb4c1bead86a8a7" }, "package_hash": { - "sha256": "73f2d803cc979821849ffc3429fa4c6be361e078984ddad74cadbd235a2c7479" + "sha256": "fb11c02a751620779e0411ee55e2e5d2673541e1fadacce80d5e5066d67a7353" } } diff --git a/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 928d26b5ea405cc1f9b1ce07f9efd82d37f6f48d..8a52902bc6092d55db52f9edd1e4c5149a6ea5db 100644 --- a/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_165r/.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": "2026-11-03T21:24:15", + "timestamp": "2026-11-03T23:34:38", "assets": [ { "asset": "r2000ic_165r.usda", diff --git a/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 52b5b7b9c6ebb50780277b4a56701f0398e4a569..0f3e523e072f2ec101a024c10b7264aff6ae6b6d 100644 --- a/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:18", + "timestamp": "2026-11-03T23:34:40", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.packaging.bom.json index ee0a42d0c07575daa8f9486018cee150bb0ebc56..ddd685dceaa47e99d21aa54c4b410ea631296077 100644 --- a/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_165r/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_165r/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_165r.usda.png", diff --git a/fanuc_r2000ic_165r/.metadata/r2000ic_165r_benchmark.json b/fanuc_r2000ic_165r/.metadata/fanuc_r2000ic_165r_benchmark.json similarity index 99% rename from fanuc_r2000ic_165r/.metadata/r2000ic_165r_benchmark.json rename to fanuc_r2000ic_165r/.metadata/fanuc_r2000ic_165r_benchmark.json index 8b8426cb101ebd78660e743155e0a7ca8e016177..9feb92e28b27d1c7738572c3ffd1c3fb2220f210 100644 --- a/fanuc_r2000ic_165r/.metadata/r2000ic_165r_benchmark.json +++ b/fanuc_r2000ic_165r/.metadata/fanuc_r2000ic_165r_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_165r", + "asset": "fanuc_r2000ic_165r", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_165r/.metadata/r2000ic_165r_validation.json b/fanuc_r2000ic_165r/.metadata/fanuc_r2000ic_165r_validation.json similarity index 97% rename from fanuc_r2000ic_165r/.metadata/r2000ic_165r_validation.json rename to fanuc_r2000ic_165r/.metadata/fanuc_r2000ic_165r_validation.json index 97cae2dd368fd7b8ab64e591d8a64247bebeeb68..27280ee1d8b6881ee514ad5aed145fe5212d1a2f 100644 --- a/fanuc_r2000ic_165r/.metadata/r2000ic_165r_validation.json +++ b/fanuc_r2000ic_165r/.metadata/fanuc_r2000ic_165r_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_165r/com.nvidia.simready.packaging.json b/fanuc_r2000ic_165r/com.nvidia.simready.packaging.json index a987ad2a38105349397f3bb70ae063e527e67f91..3928130b9107583b416e2fab071c51510a29ea7a 100644 --- a/fanuc_r2000ic_165r/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_165r/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_165r.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_165r.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "5a75605eb1557de4f5ca45b31cc2621c8f10468314df77c7d46d4a0b909dac87" + "sha256": "ae706e4e775a71a27b0f45e170b029608d8ff4670ebc34a490c99c2f76d10ef0" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "cda6f121dbc1c7306e14d73072eb6855b082b8ad4e04dce724155b1219b65831" + "sha256": "de9addecbba4608c4bdc1d061fd597aa87f7d86c41be2f50de7d1d60fe201a2b" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_165r_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "f4d3291a523499c2873f3fb0d4d56fa0b7c89a7daff7add8c45ef1f6287e0b6b" } }, { - "name": "r2000ic_165r_benchmark.json", + "name": "fanuc_r2000ic_165r_validation.json", "hash": { - "sha256": "a8bdc5e96e878afa22674967a1d6864e5c0c61968cc9db84a37aa51f1f8acf99" + "sha256": "89b6d856fd06f14c9c831e4f00eb59d231d23ffef7284f106a1fdd8e41f85491" } }, { - "name": "r2000ic_165r_validation.json", + "name": "license.txt", "hash": { - "sha256": "f9593d94992b3717488454adb8efc08ecb6f856397b5e99cab2e0c811b956c7b" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "2c31b1d1177f5e28dc4d264a38d492a08b84a8b6dfde96620b50796ea9e669c7" }, "package_hash": { - "sha256": "b01575eec76f39b6334608ac56d88628c506c61f4075ef5407272b17700c753b" + "sha256": "40a7b94710f1c94af905edef9fce1a9918740eb83bacb518d34043434bd3033d" } } diff --git a/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 14bafc9f899d63200388d24f30b02b61cbd38924..d9cb75e4eec362c268a47c968a7f795e6bb4e4a1 100644 --- a/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_190s/.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": "2026-11-03T21:24:19", + "timestamp": "2026-11-03T23:34:41", "assets": [ { "asset": "r2000ic_190s.usda", diff --git a/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 973c4c5795c8c75726fe4d18ef7912858077d616..3ebf35d517c41a56bbd41459dc2d6d85966405dc 100644 --- a/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:22", + "timestamp": "2026-11-03T23:34:43", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.packaging.bom.json index 21e37d1d48cadd1914ea1c98a3f4eed8f7b42937..5b0e7e0902bfe4d8aea97a9e72d4ed53a2775157 100644 --- a/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_190s/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_190s/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_190s.usda.png", diff --git a/fanuc_r2000ic_190s/.metadata/r2000ic_190s_benchmark.json b/fanuc_r2000ic_190s/.metadata/fanuc_r2000ic_190s_benchmark.json similarity index 99% rename from fanuc_r2000ic_190s/.metadata/r2000ic_190s_benchmark.json rename to fanuc_r2000ic_190s/.metadata/fanuc_r2000ic_190s_benchmark.json index cd13208daec6f19d35344ce7d939fca19631f5e4..a271cd8c0bcac32049ce3fa4d2442a7d5d47aba3 100644 --- a/fanuc_r2000ic_190s/.metadata/r2000ic_190s_benchmark.json +++ b/fanuc_r2000ic_190s/.metadata/fanuc_r2000ic_190s_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_190s", + "asset": "fanuc_r2000ic_190s", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_190s/.metadata/r2000ic_190s_validation.json b/fanuc_r2000ic_190s/.metadata/fanuc_r2000ic_190s_validation.json similarity index 97% rename from fanuc_r2000ic_190s/.metadata/r2000ic_190s_validation.json rename to fanuc_r2000ic_190s/.metadata/fanuc_r2000ic_190s_validation.json index 1b4efcdea2cdf97d1db6ca00c3f65350ff110ab0..7dac908a4a3b8aded61211f46223a208bd9dc969 100644 --- a/fanuc_r2000ic_190s/.metadata/r2000ic_190s_validation.json +++ b/fanuc_r2000ic_190s/.metadata/fanuc_r2000ic_190s_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_190s/com.nvidia.simready.packaging.json b/fanuc_r2000ic_190s/com.nvidia.simready.packaging.json index 6247709a0d521f0201fcff2fa88c7265335edf7a..18a4ced53916f9969cb487d2f5185b7eacdd601e 100644 --- a/fanuc_r2000ic_190s/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_190s/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_190s.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_190s.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "449149ddd7e25fe01f0c34e64be7d0cab5dca221c53f7808d5db76c32040830e" + "sha256": "9f3b236cdc45b6ce5641f1d4ea913989b410917108aa75cb9bb185d6ed87a560" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "62b09f8a615d3caa638055ad9c8d67f1da67573c809d9f15157f2473118b10e0" + "sha256": "3d3c8b807ea25346efd27a06d565771be0cb0df913318f598bfd7e8bc407b954" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_190s_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "4d6c13dce5e08cf078bf9a80053b054f45f60d53406f67c78b7b40aa48235ef9" } }, { - "name": "r2000ic_190s_benchmark.json", + "name": "fanuc_r2000ic_190s_validation.json", "hash": { - "sha256": "cdf690e2afae77446bc3e398b3dbfbfa3326a2f57a2c2a76aae184a84cd0536c" + "sha256": "0383ad5f3e6fdfdfcb6a89da06882232be5346f32e3bb8ca02fb3c76e29ea834" } }, { - "name": "r2000ic_190s_validation.json", + "name": "license.txt", "hash": { - "sha256": "a7e4b1176deab9facf8934fb4a43719c7e12b695a22137022e4f4d30b7f6572f" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "2f6ec0fea559a7f3e8d48d15c8a2dc3cc630eefe9635be3924cbb921f6ff523e" }, "package_hash": { - "sha256": "17419ba817f811b59c98902768126135b79242d2f44ff9e9ae128be3f84e8658" + "sha256": "5839078e6bd328ebb3d3200a392481b5644eacf6b3e2874dff80c0dcd3595962" } } diff --git a/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 7fea5fc38945c5755fc69b7b4eabf03be0c25e75..1efa2633684b0227390269dceeaf24044da57d9e 100644 --- a/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_190u/.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": "2026-11-03T21:24:23", + "timestamp": "2026-11-03T23:34:44", "assets": [ { "asset": "r2000ic_190u.usda", diff --git a/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 9d88b063cf5d72a3985ec39134462abd193aa844..c0fd8c3ad09758e9df0c324c7c75dedc8f18f716 100644 --- a/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:26", + "timestamp": "2026-11-03T23:34:46", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.packaging.bom.json index 3ac61bf6685650afc7fadc379c3967cf24886363..d2324b0fc3335c4d0dfea8b1c0d07adfbe3b9306 100644 --- a/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_190u/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_190u/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_190u.usda.png", diff --git a/fanuc_r2000ic_190u/.metadata/r2000ic_190u_benchmark.json b/fanuc_r2000ic_190u/.metadata/fanuc_r2000ic_190u_benchmark.json similarity index 99% rename from fanuc_r2000ic_190u/.metadata/r2000ic_190u_benchmark.json rename to fanuc_r2000ic_190u/.metadata/fanuc_r2000ic_190u_benchmark.json index 49d6ae72ca95e96c7d0513d903164c484f7d3bf7..cecb700d1b2c06bbe45e953ab5d8ee1c0934961d 100644 --- a/fanuc_r2000ic_190u/.metadata/r2000ic_190u_benchmark.json +++ b/fanuc_r2000ic_190u/.metadata/fanuc_r2000ic_190u_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_190u", + "asset": "fanuc_r2000ic_190u", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_190u/.metadata/r2000ic_190u_validation.json b/fanuc_r2000ic_190u/.metadata/fanuc_r2000ic_190u_validation.json similarity index 97% rename from fanuc_r2000ic_190u/.metadata/r2000ic_190u_validation.json rename to fanuc_r2000ic_190u/.metadata/fanuc_r2000ic_190u_validation.json index db9b58a425dcb9c935f39f016386357151188875..3836c780650a8d025d29763203a3ebfffb3971ee 100644 --- a/fanuc_r2000ic_190u/.metadata/r2000ic_190u_validation.json +++ b/fanuc_r2000ic_190u/.metadata/fanuc_r2000ic_190u_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_190u/com.nvidia.simready.packaging.json b/fanuc_r2000ic_190u/com.nvidia.simready.packaging.json index 38db5ebab9dfdfa81590158d87c716b77a7f2fed..0d4e81e4916327953ff37c77252332d4dbd9cfa7 100644 --- a/fanuc_r2000ic_190u/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_190u/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_190u.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_190u.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "e047cc2454a42605b1b02e0ae96f31e9c3afb9019772a8ea97a3031b11e6c67f" + "sha256": "7e046e05498234f7bc59a7d17801f5b030612c1561a6eac906536c8b8a6c609d" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "9c52c8d9bf1d96b03db3d5027249773727f4f3ef4b4b071185b675cc3ce80a43" + "sha256": "59557e6687a7d19e828a6d369b6f75b4340bcb4768119e3870828c38446e4e49" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_190u_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "0f2e27c6b34fe58819184f2cefebdb6b3b4f46df5ca5f50723dff27d03327131" } }, { - "name": "r2000ic_190u_benchmark.json", + "name": "fanuc_r2000ic_190u_validation.json", "hash": { - "sha256": "e9796954d28a8691be35cda3edb2bef966060bcd9288bd55fb8e11980dddb056" + "sha256": "c68a289f7d918cb3f988d1119471a15ae1897a8dc313333e2b3045b6efd75881" } }, { - "name": "r2000ic_190u_validation.json", + "name": "license.txt", "hash": { - "sha256": "ca99f40c55399808b84aa111d1186d25bae7716d055e89973d1228c419ad7eb4" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "5c107ce84d468d602e1e2a2651e7d87eeab53a56b6fcf7ca886e9f5f12aefbad" }, "package_hash": { - "sha256": "6fb05822958d942674264f6ecb75c883253a25dba7fb4d5615cc589dfafdd9cc" + "sha256": "3652f5ac371e5fdb58675ab2ce67a8922ee9ff5ebe467e2feaaffc3c6a11b07b" } } diff --git a/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 35b4dfbd7a64e5c88b8a196c6135e618168999dd..c1f2c04a06890f375348b1aa9d04cb38d30c5b30 100644 --- a/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_210f/.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": "2026-11-03T21:24:27", + "timestamp": "2026-11-03T23:34:47", "assets": [ { "asset": "r2000ic_210f.usda", diff --git a/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 4e4ab7ad3adcec81006e83633bc6ce109be3100d..55de6da13a3446e0357b8d59434d8bc13b2981ee 100644 --- a/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:29", + "timestamp": "2026-11-03T23:34:49", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.packaging.bom.json index 27b9ad0e52ce3a0dec8a693d166ca30b5f42028f..1564a561acaef59a0e65abe408c0ee95b46d5f18 100644 --- a/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_210f/3.0.1", + "content_root": 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"runtime_upper": 3.2288591861724854, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 2.094395160675049, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "J1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3125.0, + "damping": 0.0, + "max_force": 10000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 621, + "json": "motion_history/frs_joint_001.json", + "csv": "motion_history/frs_joint_001.csv" + }, + "unit": null + }, + "motion_history_frs_joint_002": { + "value": { + "schema_version": 1, + "name": "frs_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": -1.0471975803375244, + "runtime_upper": 1.3264501094818115, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 1.8325955867767334, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "J2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 7142.857421875, + "damping": 0.0, + "max_force": 20000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 320, + "json": "motion_history/frs_joint_002.json", + "csv": 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velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "J3", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6818.18212890625, + "damping": 0.0, + "max_force": 20000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 509, + "json": "motion_history/frs_joint_003.json", + "csv": "motion_history/frs_joint_003.csv" + }, + "unit": null + }, + "motion_history_frs_joint_004": { + "value": { + "schema_version": 1, + "name": "frs_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": -6.2831854820251465, + "runtime_upper": 6.2831854820251465, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 2.443460702896118, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", 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"unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J5", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1339.285888671875, + "damping": 0.0, + "max_force": 5000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 402, + "json": "motion_history/frs_joint_005.json", + "csv": "motion_history/frs_joint_005.csv" + }, + "unit": null + }, + "motion_history_frs_joint_006": { + "value": { + "schema_version": 1, + "name": "frs_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": -6.2831854820251465, + "runtime_upper": 6.2831854820251465, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 3.839724063873291, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "J6", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J6", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 511.36370849609375, + "damping": 0.0, + "max_force": 3000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 373, + "json": "motion_history/frs_joint_006.json", + "csv": "motion_history/frs_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.328, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.39, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.234, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.391, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "incomplete", + "passed": false, + "duration": 4.532, + "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Fanuc/r2000ic_210f/simready_usd/r2000ic_210f.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descriptor is insufficient I [message abbreviated]", + "metrics": {}, + "kit_logs": [], + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + { + "test_name": "ik_target_reach_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "incomplete", + "passed": false, + "duration": 6.453, + "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Fanuc/r2000ic_210f/simready_usd/r2000ic_210f.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. 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"name": "joint_movement_000", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "J1", + "authored_joint_name": "J1", + "prim_path": "/World/AssetRoot/Asset/joints/J1", + "child_body_path": "/World/AssetRoot/Asset/J1_link", + "parent_body_path": "/World/AssetRoot/Asset/robot_base", + "reference_frame": "/World/AssetRoot/Asset/robot_base", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_000.json", + "csv": "motion_history/joint_movement_000.csv" + }, + "unit": null + }, + "motion_history_joint_movement_001": { + "value": { + "schema_version": 1, + "name": "joint_movement_001", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "J2", + "authored_joint_name": "J2", + "prim_path": "/World/AssetRoot/Asset/joints/J2", + "child_body_path": "/World/AssetRoot/Asset/J2_link", + "parent_body_path": "/World/AssetRoot/Asset/J1_link", + "reference_frame": "/World/AssetRoot/Asset/J1_link", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_001.json", + "csv": "motion_history/joint_movement_001.csv" + }, + "unit": null + }, + "motion_history_joint_movement_002": { + "value": { + "schema_version": 1, + "name": "joint_movement_002", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "J3", + "authored_joint_name": "J3", + "prim_path": "/World/AssetRoot/Asset/joints/J3", + "child_body_path": "/World/AssetRoot/Asset/J3_link", + "parent_body_path": "/World/AssetRoot/Asset/J2_link", + "reference_frame": "/World/AssetRoot/Asset/J2_link", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_002.json", + "csv": "motion_history/joint_movement_002.csv" + }, + "unit": null + }, + "motion_history_joint_movement_003": { + "value": { + "schema_version": 1, + "name": "joint_movement_003", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "J4", + "authored_joint_name": "J4", + "prim_path": "/World/AssetRoot/Asset/joints/J4", + "child_body_path": "/World/AssetRoot/Asset/J4_link", + "parent_body_path": "/World/AssetRoot/Asset/J3_link", + "reference_frame": "/World/AssetRoot/Asset/J3_link", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_003.json", + "csv": "motion_history/joint_movement_003.csv" + }, + "unit": null + }, + "motion_history_joint_movement_004": { + "value": { + "schema_version": 1, + "name": "joint_movement_004", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "J5", + "authored_joint_name": "J5", + "prim_path": "/World/AssetRoot/Asset/joints/J5", + "child_body_path": "/World/AssetRoot/Asset/J5_link", + "parent_body_path": "/World/AssetRoot/Asset/J4_link", + "reference_frame": "/World/AssetRoot/Asset/J4_link", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_004.json", + "csv": "motion_history/joint_movement_004.csv" + }, + "unit": null + }, + "motion_history_joint_movement_005": { + "value": { + "schema_version": 1, + "name": "joint_movement_005", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "J6", + "authored_joint_name": "J6", + "prim_path": "/World/AssetRoot/Asset/joints/J6", + "child_body_path": "/World/AssetRoot/Asset/J6_link", + "parent_body_path": "/World/AssetRoot/Asset/J5_link", + "reference_frame": "/World/AssetRoot/Asset/J5_link", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_005.json", + "csv": "motion_history/joint_movement_005.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 35.312, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 18.169, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 605.63, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.875, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.862069, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 25, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.899128, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.024025, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 35.312, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 18.169, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 605.63, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.875, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.862069, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 25, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.899128, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.024025, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 48.031, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.687, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1937.4, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 15, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 15, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 15, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 15, + "unit": null + }, + "mdl_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mdl_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mdl_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_render_context_order": { + "value": "mdl", + "unit": null + }, + "mdl_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_deinstanced_prims": { + "value": 67, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 34670, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 48.031, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.687, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1937.4, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 15, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 15, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 15, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 15, + "unit": null + }, + "mdl_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mdl_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mdl_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_render_context_order": { + "value": "mdl", + "unit": null + }, + "mdl_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_deinstanced_prims": { + "value": 67, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 34670, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mimic_joint", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 2.063, + "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "no_active_mimic_followers", + "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mimic_joint_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 14.563, + "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload.", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "no_active_mimic_followers", + "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "multi_joint_coordination", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 36.875, + "message": "", + "metrics": { + "mjc_joints_without_safe_range": { + "value": [], + "unit": null + }, + "mjc_total_joints": { + "value": 6, + "unit": null + }, + "mjc_valid_joints": { + "value": 6, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "mjc_velocity_hint_fallback_joints": { + "value": 0, + "unit": null + }, + "mjc_guard_reference": { + "value": { + "kinematic_span_stage_units": 6.32120431712743, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "mjc_timing_iterations": { + "value": [ + { + "ramp_frames": 480, + "hold_frames": 1440, + "total_frames": 1920, + "ramp_seconds": 2.0, + "hold_seconds": 6.0, + "observation_seconds": 8.0, + "joints": [ + { + "name": "J1", + "index": 0, + "displacement": 1.033233019416557, + "velocity_hint": 2.0943951023931953, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.7749247645624178, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0032243686673633005 + }, + { + "name": "J2", + "index": 1, + "displacement": 0.24108882172731683, + "velocity_hint": 1.8325955814359915, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.18081661629548762, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0007523561754424566 + }, + { + "name": "J3", + "index": 2, + "displacement": 0.15890213269973186, + "velocity_hint": 1.9198620319366455, + "velocity_hint_source": "runtime joint velocity ceiling", + "estimated_command_peak_speed": 0.11917659952479889, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0004958794852912615 + }, + { + "name": "J4", + "index": 3, + "displacement": 2.0106757199602727, + "velocity_hint": 2.4434606864759525, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 1.5080067899702045, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0062746347337301915 + }, + { + "name": "J5", + "index": 4, + "displacement": 0.6981246847181684, + "velocity_hint": 2.4434606864759525, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.5235935135386263, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0021786095846890756 + }, + { + "name": "J6", + "index": 5, + "displacement": 2.0106193547755864, + "velocity_hint": 3.839724063873291, + "velocity_hint_source": "runtime joint velocity ceiling", + "estimated_command_peak_speed": 1.5079645160816897, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.006274458837168605 + } + ], + "joints_omitted": 0, + "iteration": 0, + "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", + "coordinate_basis": "same native runtime joint coordinates for displacement and speed", + "completed_iteration_ticks": 455 + }, + { + "ramp_frames": 613, + "hold_frames": 1440, + "total_frames": 2053, + "ramp_seconds": 2.5541666666666667, + "hold_seconds": 6.0, + "observation_seconds": 8.554166666666667, + "joints": [ + { + "name": "J1", + "index": 0, + "displacement": 1.5412134456634519, + "velocity_hint": 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render/capture ticks excluded", + "coordinate_basis": "same native runtime joint coordinates for displacement and speed", + "completed_iteration_ticks": 587 + }, + { + "ramp_frames": 480, + "hold_frames": 1440, + "total_frames": 1920, + "ramp_seconds": 2.0, + "hold_seconds": 6.0, + "observation_seconds": 8.0, + "joints": [ + { + "name": "J1", + "index": 0, + "displacement": 0.5080533027648926, + "velocity_hint": 2.0943951023931953, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.38103997707366943, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0015854614786903198 + }, + { + "name": "J2", + "index": 1, + "displacement": 0.18799635767936707, + "velocity_hint": 1.8325955814359915, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.1409972682595253, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0005866726613312778 + }, + { + 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"value": 1.703, + "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 + }, + "mjc_iteration_0_joints": { + "value": [ + { + "name": "J1", + "target": -1.0332349395751954, + "final_position": -1.0245959758758545, + "final_error": 0.008638963699340918, + "entered_tolerance": true + }, + { + "name": "J2", + "target": -0.2401573657989502, + "final_position": -0.23802615702152252, + "final_error": 0.0021312087774276733, + "entered_tolerance": true + }, + { + "name": "J3", + "target": 0.15812690019607556, + "final_position": 0.1562148779630661, + "final_error": 0.0019120222330094583, + "entered_tolerance": true + }, + { + "name": "J4", + "target": -2.010619354248047, + "final_position": -1.9938137531280518, + "final_error": 0.016805601119995295, + "entered_tolerance": true + }, + { + "name": "J5", + "target": 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0.01658179797232151, + "entered_tolerance": true + }, + { + "name": "J5", + "target": 0.0, + "final_position": 0.005736322607845068, + "final_error": 0.005736322607845068, + "entered_tolerance": true + }, + { + "name": "J6", + "target": 0.0, + "final_position": 0.01653553918004036, + "final_error": 0.01653553918004036, + "entered_tolerance": true + } + ], + "unit": null + }, + "mjc_iterations_passed": { + "value": 3, + "unit": null + }, + "mjc_iterations_failed": { + "value": 0, + "unit": null + }, + "motion_history_mjc_joint_000": { + "value": { + "schema_version": 1, + "name": "mjc_joint_000", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position 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index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "joint_name": "J2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 25000.0, + "damping": 1000.0, + "max_force": 20000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 374, + "json": "motion_history/mjc_joint_001.json", + "csv": "motion_history/mjc_joint_001.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_002": { + "value": { + "schema_version": 1, + "name": "mjc_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "joint_name": "J3", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 25000.0, + "damping": 1000.0, + "max_force": 20000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 374, + "json": "motion_history/mjc_joint_002.json", + "csv": "motion_history/mjc_joint_002.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_003": { + "value": { + "schema_version": 1, + "name": "mjc_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "joint_name": "J4", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J4", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 25000.0, + "damping": 1000.0, + "max_force": 5000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 374, + "json": "motion_history/mjc_joint_003.json", + "csv": "motion_history/mjc_joint_003.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_004": { + "value": { + "schema_version": 1, + "name": "mjc_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; 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"motion_history_mjc_joint_005": { + "value": { + "schema_version": 1, + "name": "mjc_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "J6", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J6", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 511.36370849609375, + "damping": 0.0, + "max_force": 3000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 378, + "json": "motion_history/mjc_joint_005.json", + "csv": "motion_history/mjc_joint_005.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 16.89, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.844, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 605.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.75, + "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 + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 3.8e-05, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.000263, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 16.89, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.844, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 605.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.75, + "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 + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 3.8e-05, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.000263, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 49.109, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.265, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1253.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 15, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 67, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 34072, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 49.109, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.265, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1253.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 15, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 67, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 34072, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 80.109, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 17.048, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 852.4, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.063, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.7, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 0.0, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 0, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 1, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 80.109, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 17.048, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 852.4, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.063, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.7, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 0.0, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 0, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 1, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 13.859, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.172, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1086.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.152869, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/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 \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/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 \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/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 \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "presence", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 13.859, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.172, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1086.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.152869, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/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 \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/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 \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/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 \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/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", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 46.813, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 8.703, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1740.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 15, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 15, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 15, + "unit": null + }, + "universal_surface_materials_total": { + "value": 15, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + 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not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "J5", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J5", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1339.285888671875, + "damping": 0.0, + "max_force": 5000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 185, + "json": "motion_history/sta_joint_005.json", + "csv": "motion_history/sta_joint_005.csv" + }, + "unit": null + }, + "motion_history_sta_joint_006": { + "value": { + "schema_version": 1, + "name": "sta_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "J6", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J6", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 511.36370849609375, + "damping": 0.0, + "max_force": 3000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 185, + "json": "motion_history/sta_joint_006.json", + "csv": "motion_history/sta_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 18.078, + "message": "", + "metrics": { + "vel_joints_with_limits": { + "value": 6, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 6.32120431712743, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 2.89, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 6, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 481.67, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.89, + "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 + }, + "vel_joints_passed": { + "value": 6, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "J1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 25000.0, + "damping": 1000.0, + "max_force": 10000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 16, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "J2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 25000.0, + "damping": 1000.0, + "max_force": 20000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 11, + "json": "motion_history/vel_joint_002.json", + "csv": "motion_history/vel_joint_002.csv" + }, + "unit": null + }, + "motion_history_vel_joint_003": { + "value": { + "schema_version": 1, + "name": "vel_joint_003", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "J3", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 25000.0, + "damping": 1000.0, + "max_force": 20000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 21, + "json": "motion_history/vel_joint_003.json", + "csv": "motion_history/vel_joint_003.csv" + }, + "unit": null + }, + "motion_history_vel_joint_004": { + "value": { + "schema_version": 1, + "name": "vel_joint_004", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "J4", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J4", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 25000.0, + "damping": 1000.0, + "max_force": 5000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 25, + "json": "motion_history/vel_joint_004.json", + "csv": "motion_history/vel_joint_004.csv" + }, + "unit": null + }, + "motion_history_vel_joint_005": { + "value": { + "schema_version": 1, + "name": "vel_joint_005", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "J5", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J5", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 25000.0, + "damping": 1000.0, + "max_force": 5000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 13, + "json": "motion_history/vel_joint_005.json", + "csv": "motion_history/vel_joint_005.csv" + }, + "unit": null + }, + "motion_history_vel_joint_006": { + "value": { + "schema_version": 1, + "name": "vel_joint_006", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "J6", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J6", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 25000.0, + "damping": 1000.0, + "max_force": 3000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 18, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "velocity_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 23.984, + "message": "", + "metrics": { + "vel_joints_with_limits": { + "value": 6, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 6.320570231796232, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.406, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 22, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 63.91, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.688, + "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 + }, + "vel_joints_passed": { + "value": 6, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "J1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3125.0, + "damping": 0.0, + "max_force": 10000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "J2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 7142.857421875, + "damping": 0.0, + "max_force": 20000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 70, + "json": "motion_history/vel_joint_002.json", + "csv": "motion_history/vel_joint_002.csv" + }, + "unit": null + }, + "motion_history_vel_joint_003": { + "value": { + "schema_version": 1, + "name": "vel_joint_003", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "J3", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6818.18212890625, + "damping": 0.0, + "max_force": 20000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_003.json", + "csv": "motion_history/vel_joint_003.csv" + }, + "unit": null + }, + "motion_history_vel_joint_004": { + "value": { + "schema_version": 1, + "name": "vel_joint_004", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "J4", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J4", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1339.285888671875, + "damping": 0.0, + "max_force": 5000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_004.json", + "csv": "motion_history/vel_joint_004.csv" + }, + "unit": null + }, + "motion_history_vel_joint_005": { + "value": { + "schema_version": 1, + "name": "vel_joint_005", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "J5", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J5", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1339.285888671875, + "damping": 0.0, + "max_force": 5000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 72, + "json": "motion_history/vel_joint_005.json", + "csv": "motion_history/vel_joint_005.csv" + }, + "unit": null + }, + "motion_history_vel_joint_006": { + "value": { + "schema_version": 1, + "name": "vel_joint_006", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "J6", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/J6", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 511.36370849609375, + "damping": 0.0, + "max_force": 3000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + } + ] +}