diff --git a/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index d354178d249b9c449baa38513133357cb7a2203f..d806615eb0884f6c14bdb13f1d30973b47410b1b 100644 --- a/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710ic_70/.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": "2026-11-02T23:09:21", + "timestamp": "2026-11-03T21:22:57", "assets": [ { "asset": "m710ic_70.usda", @@ -29,6 +29,6 @@ } ], "content_hash": { - "sha256": "c24775cee34384762336c9364683e74946320e614d1629eef1c9647ab2cc5748" + "sha256": "eff650043d93f34894e40538c6ce33697420377738a4ea95d87a3102abe85a21" } } diff --git a/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json similarity index 68% rename from fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json rename to fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 70853244267fa39fc4f2d349f3cee840ec0df37c..b0f1f8e79fd02be95f3daead1f55836274ed2cfc 100644 --- a/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -1,14 +1,14 @@ { "format_version": "1.0", "profile": "Package", - "profile_version": "1.0.0", - "timestamp": "2026-11-02T23:09:23", + "profile_version": "1.1.0", + "timestamp": "2026-11-03T21:22:59", "assets": [ { "asset": "com.nvidia.simready.packaging.json", "features": [ { - "CAP030_PackagingCore.OpenUSD.0-1-0": { + "CAP030_PackagingCore.OpenUSD.0-2-0": { "version": "0.0.0", "passed": true, "failing_requirements": [], @@ -16,12 +16,12 @@ } }, { - 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"value": 6, + "unit": null + }, + "frs_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_frs_joint_001": { + "value": { + "schema_version": 1, + "name": "frs_joint_001", + "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": -3.1415927410125732, + "runtime_upper": 3.1415927410125732, + "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": 2.7925264835357666, + "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": 1171.8751220703125, + "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": 486, + "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": -1.5707963705062866, + "runtime_upper": 2.356194496154785, + "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": "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": 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": 419, + "json": "motion_history/frs_joint_002.json", + "csv": "motion_history/frs_joint_002.csv" + }, + "unit": null + }, + "motion_history_frs_joint_003": { + "value": { + "schema_version": 1, + "name": "frs_joint_003", + "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": -1.4049900770187378, + "runtime_upper": 3.5779247283935547, + "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": "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": 1875.0, + "damping": 0.0, + "max_force": 6000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 521, + "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": 3.926990509033203, + "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": "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": 166.6667022705078, + "damping": 0.0, + "max_force": 1000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 369, + "json": "motion_history/frs_joint_004.json", + "csv": "motion_history/frs_joint_004.csv" + }, + "unit": null + }, + "motion_history_frs_joint_005": { + "value": { + "schema_version": 1, + "name": "frs_joint_005", + "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": -2.181661367416382, + "runtime_upper": 2.181661367416382, + "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": 3.926990509033203, + "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": "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": 166.6667022705078, + "damping": 0.0, + "max_force": 1000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 299, + "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": 3.926990509033203, + "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": 150.0, + "damping": 0.0, + "max_force": 900.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 369, + "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": 1.718, + "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/m710ic_70/simready_usd/m710ic_70.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 IK evid [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": 7.188, + "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/m710ic_70/simready_usd/m710ic_70.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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"/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": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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_007.json", + "csv": "motion_history/joint_movement_007.csv" + }, + "unit": null + }, + "motion_history_joint_movement_008": { + "value": { + "schema_version": 1, + "name": "joint_movement_008", + "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": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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_008.json", + "csv": "motion_history/joint_movement_008.csv" + }, + "unit": null + }, + "motion_history_joint_movement_009": { + "value": { + "schema_version": 1, + "name": "joint_movement_009", + "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": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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_009.json", + "csv": "motion_history/joint_movement_009.csv" + }, + "unit": null + }, + "motion_history_joint_movement_010": { + "value": { + "schema_version": 1, + "name": "joint_movement_010", + "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": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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_010.json", + "csv": "motion_history/joint_movement_010.csv" + }, + "unit": null + }, + "motion_history_joint_movement_011": { + "value": { + "schema_version": 1, + "name": "joint_movement_011", + "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": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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_011.json", + "csv": "motion_history/joint_movement_011.csv" + }, + "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": "joint_movement_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 199.984, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 46.922, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1042.71, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.484, + "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 + }, + "jm_joint_J1_rot_deg": { + "value": 177.031, + "unit": null + }, + "jm_joint_J1_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_J1_bbox_m": { + "value": 1.0059, + "unit": null + }, + "jm_joint_J1_translation_stage_units": { + "value": 0.0, + "unit": null + }, + "jm_joint_J1_bbox_diagonal_stage_units": { + "value": 1.0059115225027855, + "unit": null + }, + "jm_joint_J1_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_J1_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_J1_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_J1_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_J1_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_J1_pct_of_travel": { + "value": 98.4, + "unit": null + }, + "jm_joint_J1_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_J2_rot_deg": { + "value": 132.466, + "unit": null + }, + "jm_joint_J2_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_J2_bbox_m": { + "value": 1.2023, + "unit": null + }, + "jm_joint_J2_translation_stage_units": { + "value": 1.546334582146834e-08, + "unit": null + }, + "jm_joint_J2_bbox_diagonal_stage_units": { + "value": 1.2022951077751827, + "unit": null + }, + "jm_joint_J2_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_J2_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_J2_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_J2_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_J2_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_J2_pct_of_travel": { + "value": 98.1, + "unit": null + }, + "jm_joint_J2_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_J3_rot_deg": { + "value": 179.92, + "unit": null + }, + "jm_joint_J3_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_J3_bbox_m": { + "value": 0.7672, + "unit": null + }, + "jm_joint_J3_translation_stage_units": { + "value": 2.0907579835461717e-07, + "unit": null + }, + "jm_joint_J3_bbox_diagonal_stage_units": { + 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"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": 35.954, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 19.732, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 657.73, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.75, + "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 + }, + "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": 0.90817, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.022661, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 35.954, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 19.732, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 657.73, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.75, + "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 + }, + "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": 0.90817, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.022661, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 26.578, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.047, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 609.4, + "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": 7, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 7, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 7, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 7, + "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": 30, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 35506, + "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": 26.578, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.047, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 609.4, + "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": 7, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 7, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 7, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 7, + "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": 30, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 35506, + "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": 54.75, + "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": { + 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"authored_drive": { + "stiffness": 166.6667022705078, + "damping": 0.0, + "max_force": 1000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 182, + "json": "motion_history/sta_joint_004.json", + "csv": "motion_history/sta_joint_004.csv" + }, + "unit": null + }, + "motion_history_sta_joint_005": { + "value": { + "schema_version": 1, + "name": "sta_joint_005", + "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": "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": 166.6667022705078, + "damping": 0.0, + "max_force": 1000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 182, + "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 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}, + "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": 4.991621741477523, + "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": 0.812, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 6, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 135.33, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.61, + "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": 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"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": 2500.0, + "damping": 100.0, + "max_force": 10000.0 + } + }, + "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_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": 2500.0, + "damping": 100.0, + "max_force": 6000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 20, + "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": 2500.0, + "damping": 100.0, + "max_force": 1000.0 + } + }, + "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_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": 2500.0, + "damping": 100.0, + "max_force": 1000.0 + } + }, + "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_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": 2500.0, + "damping": 100.0, + "max_force": 900.0 + } + }, + "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": 21.188, + "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": 4.990017682174694, + "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": 1.656, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 22, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 75.27, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.063, + "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": 1171.8751220703125, + "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": 92, + "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": 3125.0, + "damping": 0.0, + "max_force": 10000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 91, + "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": 1875.0, + "damping": 0.0, + "max_force": 6000.0 + } + }, + "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": 166.6667022705078, + "damping": 0.0, + "max_force": 1000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "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": 166.6667022705078, + "damping": 0.0, + "max_force": 1000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 50, + "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 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"display_name": "Simulate Multi-Body Physics (Robot Newton)", - "family": "FET004", - "runtime": "RobotNewton", - "source": false, - "foundations_contract": 2, - "profiles": [ - { - "id": "Robot-Body", - "version": "3.0.0" - } - ], - "profile": { - "id": "Robot-Body", - "version": "3.0.0" - } - } - } - } - } - } -} diff --git a/fanuc_m710ic_70/com.nvidia.simready.packaging.json b/fanuc_m710ic_70/com.nvidia.simready.packaging.json index a596f675c82d33b2649ff3510542a6f0f5fd307d..ed4b5ce872f0a09dd6cf345fa7a23937cc959006 100644 --- a/fanuc_m710ic_70/com.nvidia.simready.packaging.json +++ b/fanuc_m710ic_70/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_70.3.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_70.3.0.1", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "f978eeaa7f98b5bebeac0624161510f113ba8c94adaeae100775effb8a6c1b36" + "sha256": "4dfbe50c0d79183cdf0da86bf6ace91e6c36fb9d073d91f82d46d79ab4a6350c" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "8ae3ac1ae9bfdaab89a34751eb785c1e94c9cf60afdfda8f37d621729cc5a23c" + "sha256": "75ecf687d8b2ba02c79e485987ac868f8bf11b7b8fb7062a67f001d43a7e10e1" } }, { @@ -26,12 +26,24 @@ "hash": { "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } + }, + { + "name": "m710ic_70_benchmark.json", + "hash": { + "sha256": "b2dd454cb597f935b2a17bac3be62ceb0f14d9652185853405945d7e4ebc3cfd" + } + }, + { + "name": "m710ic_70_validation.json", + "hash": { + "sha256": "a637c4420df27310632b49e0ffd89137c62625350d768798157e1af353ee275e" + } } ], "content_hash": { - "sha256": "c24775cee34384762336c9364683e74946320e614d1629eef1c9647ab2cc5748" + "sha256": "eff650043d93f34894e40538c6ce33697420377738a4ea95d87a3102abe85a21" }, "package_hash": { - "sha256": "fd9b10fa0b89676b91492f4572b7c07e4d0a784fb627cf15cb230967f1dbd74c" + "sha256": "b222ce44730aacbd7bb6a5e65d1dbd4833d3f3b5a4ced8515af6e1fa90741ece" } } diff --git a/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index e4123a87d35c58036129553945c0a21477fa2e94..acbfb988e00663ba388f3176ac590fa9f9744722 100644 --- a/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710id_50m/.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": "2026-11-02T23:09:24", + "timestamp": "2026-11-03T21:23:00", "assets": [ { "asset": "m710id_50m.usda", @@ -29,6 +29,6 @@ } ], "content_hash": { - "sha256": "77d077d5442b2e098361d0ec1990f7350e759e4171b82d119552efa0664dcf9f" + "sha256": "bc4c1fdffbc99a69be96466d2c6439f79a82b6fcc604b28784b3424509aabd3e" } } diff --git a/fanuc_m710id_70/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json similarity index 68% rename from fanuc_m710id_70/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json rename to fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index d1ff66a43cebc95557d4832710cb1b7f5271c826..266d54141cdc2edfa912826075edb1cafa3d4be3 100644 --- a/fanuc_m710id_70/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -1,14 +1,14 @@ { "format_version": "1.0", "profile": "Package", - "profile_version": "1.0.0", - "timestamp": "2026-11-02T23:09:28", + "profile_version": "1.1.0", + "timestamp": "2026-11-03T21:23:03", "assets": [ { "asset": "com.nvidia.simready.packaging.json", "features": [ { - "CAP030_PackagingCore.OpenUSD.0-1-0": { + "CAP030_PackagingCore.OpenUSD.0-2-0": { "version": "0.0.0", "passed": true, "failing_requirements": [], @@ -16,12 +16,12 @@ } }, { - "CAP032_PackagingIntrospection.OpenUSD.0-1-0": { + "CAP032_PackagingIntrospection.OpenUSD.0-2-0": { "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [ - "CAP030_PackagingCore.OpenUSD.0-1-0" + "CAP030_PackagingCore.OpenUSD.0-2-0" ] } } diff --git a/fanuc_m710id_50m/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710id_50m/.metadata/com.nvidia.simready.packaging.bom.json index 36604433e545dfe0e48f980c9ff4ee12e17f7869..3f1fba1cb0882d35c6b9e3793fb889f642259a55 100644 --- a/fanuc_m710id_50m/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710id_50m/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,15 +1,7 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m710id_50m/3.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m710id_50m/3.0.1", "items": [ - { - "relative_path": ".simready/validation.json", - "size": 49437, - "hash": { - "sha256-flat-1mb": "60678caf466441b20cc980d25651ae4cad35d680a6cb335ac019829b84246b9b", - "sha256": "06dfaae702000e6d9fc552d2267886882dc632a5aa12cb665f7cb8291bae4e31" - } - }, { "relative_path": ".thumbs/256x256/m710id_50m.usda.png", "size": 42898, diff --git a/fanuc_m710id_50m/.metadata/m710id_50m_benchmark.json b/fanuc_m710id_50m/.metadata/m710id_50m_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..db6d68aeac17345c1c5dffaff888f0e141adc210 --- /dev/null +++ b/fanuc_m710id_50m/.metadata/m710id_50m_benchmark.json @@ -0,0 +1,15128 @@ +{ + "schema_version": "1.0", + "asset": "m710id_50m", + "run_timestamp": "2026-10-31T20:07:08.573916+00:00", + "passed": false, + "results": [ + { + "test_name": "culling_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 14.5, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.923, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 245.19, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.031, + "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 + }, + "culling_xz_qualified_pairs": { + "value": 8, + "unit": null + }, + "culling_xz_omitted_pairs": { + "value": 0, + "unit": null + }, + "culling_xz_omitted_indices": { + "value": [], + "unit": null + }, + "culling_xz_coverage_complete": { + "value": 1, + "unit": null + }, + "culling_xz_max_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_mean_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_worst_angle": { + "value": 0.0, + "unit": null + }, + "culling_xz_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": "culling_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 14.5, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.923, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 245.19, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.031, + "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 + }, + "culling_xz_qualified_pairs": { + "value": 8, + "unit": null + }, + "culling_xz_omitted_pairs": { + "value": 0, + "unit": null + }, + "culling_xz_omitted_indices": { + "value": [], + "unit": null + }, + "culling_xz_coverage_complete": { + "value": 1, + "unit": null + }, + "culling_xz_max_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_mean_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_worst_angle": { + "value": 0.0, + "unit": null + }, + "culling_xz_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": "display_color_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 49.89, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + 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"jm_joint_J5_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_J6_rot_deg": { + "value": 179.959, + "unit": null + }, + "jm_joint_J6_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_J6_bbox_m": { + "value": 0.1779, + "unit": null + }, + "jm_joint_J6_translation_stage_units": { + "value": 9.42055475210265e-16, + "unit": null + }, + "jm_joint_J6_bbox_diagonal_stage_units": { + "value": 0.17785055271444644, + "unit": null + }, + "jm_joint_J6_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_J6_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_J6_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_J6_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_J6_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_J6_pct_of_travel": { + "value": 45.0, + "unit": null + }, + "jm_joint_J6_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 6, + "unit": null + }, + "jm_joints_passed": { + "value": 6, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_J1_status": { + "value": "passed", + "unit": null + }, + "jm_joint_J2_status": { + "value": "passed", + "unit": null + }, + "jm_joint_J3_status": { + "value": "passed", + "unit": null + }, + "jm_joint_J4_status": { + "value": "passed", + "unit": null + }, + "jm_joint_J5_status": { + "value": "passed", + "unit": null + }, + "jm_joint_J6_status": { + "value": "passed", + "unit": null + }, + "motion_history_joint_movement_000": { + "value": { + "schema_version": 1, + "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": 11.516, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.236, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 141.2, + "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 + }, + "light_response_variation_ratio": { + "value": 0.896552, + "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": 26, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.906558, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.024855, + "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": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 11.516, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.236, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 141.2, + "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 + }, + "light_response_variation_ratio": { + "value": 0.896552, + "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": 26, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.906558, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.024855, + "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": "mdl_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 25.641, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.343, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 468.6, + "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 + }, + "mdl_surface_materials_with_universal": { + "value": 9, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 9, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 9, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 9, + "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": 32, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 32594, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./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": "mdl_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 25.641, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.343, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 468.6, + "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 + }, + "mdl_surface_materials_with_universal": { + "value": 9, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 9, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 9, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 9, + "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": 32, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 32594, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./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": "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": 28.078, + "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": 6.083995448852178, + "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": 1.03323811207325, + "velocity_hint": 3.141592653589793, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.7749285840549374, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.003224384559811921 + }, + { + "name": "J2", + "index": 1, + "displacement": 0.023148814365267723, + "velocity_hint": 3.141592653589793, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.017361610773950792, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 7.22395726068456e-05 + }, + { + "name": "J3", + "index": 2, + "displacement": 0.2922821758594363, + "velocity_hint": 3.141592653589793, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.2192116318945772, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0009121132137279719 + }, + { + "name": "J4", + "index": 3, + "displacement": 2.2340259865373993, + "velocity_hint": 4.537856055185257, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 1.6755194899030494, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.006971634914585027 + }, + { + "name": "J5", + "index": 4, + "displacement": 0.6981057098219754, + "velocity_hint": 4.537856055185257, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.5235792823664815, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.002178550370494793 + }, + { + "name": "J6", + "index": 5, + "displacement": 2.234021301218029, + "velocity_hint": 6.457718232379019, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 1.6755159759135219, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.006971620293297581 + } + ], + "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": 456 + }, + { + "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": 1.5419011640548703, + "velocity_hint": 3.141592653589793, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 1.1564258730411527, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.004811748858291054 + }, + { + "name": "J2", + "index": 1, + "displacement": 0.9395881965011357, + "velocity_hint": 3.141592653589793, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.7046911473758517, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.002932135040296102 + }, + { + "name": "J3", + "index": 2, + "displacement": 1.2008457803726194, + "velocity_hint": 3.141592653589793, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.9006343352794646, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0037474310594109994 + }, + { + "name": "J4", + "index": 3, + "displacement": 3.3337374305725094, + "velocity_hint": 4.537856055185257, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 2.5003030729293823, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.010403460124095432 + }, + { + "name": "J5", + "index": 4, + "displacement": 1.0417901062965391, + "velocity_hint": 4.537856055185257, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.7813425797224043, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.003251072423724466 + }, + { + "name": "J6", + "index": 5, + "displacement": 3.333755073547363, + "velocity_hint": 6.457718232379019, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 2.5003163051605224, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.010403515181813816 + } + ], + "joints_omitted": 0, + "iteration": 1, + "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", + "coordinate_basis": "same native runtime joint coordinates for displacement and speed", + "completed_iteration_ticks": 461 + }, + { + "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": 0.5090798139572144, + "velocity_hint": 3.141592653589793, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.38180986046791077, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0015886648708018924 + }, + { + "name": "J2", + "index": 1, + "displacement": 0.3259192705154419, + "velocity_hint": 3.141592653589793, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.24443945288658142, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0010170831401890013 + }, + { + "name": "J3", + "index": 2, 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}, + "mtlx_surface_materials_with_universal": { + "value": 9, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 9, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 9, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 9, + "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": 32, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 32476, + "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": 13.204, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.0, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 150.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.453, + "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": [ + { + "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": "pivot", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 13.204, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.0, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 150.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.453, + "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": [ + { + "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", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 2.015, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 0.235, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 117.5, + "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": 0.141654, + "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": 2.015, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 0.235, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 117.5, + "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": 0.141654, + "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": 27.297, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.203, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 640.6, + "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": 9, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 9, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 9, + "unit": null + }, + "universal_surface_materials_total": { + "value": 9, + "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 + }, + "universal_surface_deinstanced_prims": { + "value": 32, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 32446, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 27.297, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.203, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 640.6, + "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": 9, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 9, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 9, + "unit": null + }, + "universal_surface_materials_total": { + "value": 9, + "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 + }, + "universal_surface_deinstanced_prims": { + "value": 32, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 32446, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.281, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. 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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": 91.21620178222656, + "damping": 0.0, + "max_force": 900.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 182, + "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": 12.266, + "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": 6.083995448852178, + "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": 1.032, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 6, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 172.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.719, + "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": 2500.0, + "damping": 100.0, + "max_force": 8000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 12, + "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": 2500.0, + "damping": 100.0, + "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_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": 2500.0, + "damping": 100.0, + "max_force": 5000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 15, + "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": 2500.0, + "damping": 100.0, + "max_force": 2000.0 + } + }, + "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_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": 2500.0, + "damping": 100.0, + "max_force": 1000.0 + } + }, + "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_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": 2500.0, + "damping": 100.0, + "max_force": 900.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 15, + "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": 36.516, + "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": 6.081521772385317, + "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": 1.0, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 50.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.25, + "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": 1666.666748046875, + "damping": 0.0, + "max_force": 8000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 86, + "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": 2083.333251953125, + "damping": 0.0, + "max_force": 10000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 105, + "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": 1041.666748046875, + "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": 101, + "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": 288.46148681640625, + "damping": 0.0, + "max_force": 2000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 116, + "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": 144.23080444335938, + "damping": 0.0, + "max_force": 1000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 45, + "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": 91.21620178222656, + "damping": 0.0, + "max_force": 900.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 86, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + } + ] +} diff --git a/fanuc_m710id_50m/.metadata/m710id_50m_validation.json b/fanuc_m710id_50m/.metadata/m710id_50m_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..7be37926049a9e552828804cf696cce98260dca5 --- /dev/null +++ b/fanuc_m710id_50m/.metadata/m710id_50m_validation.json @@ -0,0 +1,221 @@ +{ + "simready_usd/m710id_50m.usda": { + "features_summary": { + "CAP000_Core.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP023_RobotMaterials.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP025_RosBridge.Ros.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "optional requirements": "['com.nvidia.simready.ROS.001']", + "passed": false, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + } + }, + "profile_id": "Robot-Body", + "profile_version": "3.0.0", + "simready_validate_version": null, + "tier_versions": {} + } +} diff --git a/fanuc_m710id_50m/.simready/validation.json b/fanuc_m710id_50m/.simready/validation.json deleted file mode 100644 index fab0718f28b8c7b0b3236989a9e0a1d8def353ea..0000000000000000000000000000000000000000 --- a/fanuc_m710id_50m/.simready/validation.json +++ /dev/null @@ -1,1173 +0,0 @@ -{ - "SimReady_Metadata": { - "validation": { - "profile": "Robot-Body", - "profile_version": "3.0.0", - "validated_features": { - "2026-10-30": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP003_RigidBody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.RobotMuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP021_RobotCore.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "CAP022_DrivenJoints.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP023_RobotMaterials.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP025_RosBridge.Ros.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.ROS.001']", - "passed": false, - "version": "0-1-0" - }, - "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP033_SimReadyPackage.OpenUSD.0-4-0": { - "blocking_failure": false, - "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", - "passed": true, - "version": "0-4-0" - }, - "CAP100_IsaacComposition.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "1-0-1" - }, - "FET003_RigidBody.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET003_RigidBody.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET003_RigidBody.PhysX.0-4-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-4-0" - }, - "FET004_Multibody.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.Newton.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "FET004_Multibody.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET004_Multibody.PhysX.0-4-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", - "passed": true, - "version": "0-4-0" - }, - "FET004_Multibody.RobotNewton.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET006_Materials.MDL.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET006_Materials.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET006_Materials.Openpbr.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET010_DisplayColor.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET022_DrivenJoints.Isaac.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET022_DrivenJoints.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "FET022_DrivenJoints.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET022_DrivenJoints.PhysX.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET004_Multibody.PhysX.0-4-0']", - "passed": true, - "version": "0-2-0" - } - } - } - }, - "runtime_testing": { - "tested_features": { - "2026-10-31T20:07:08.573916+00:00": { - "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { - "passed": true, - "status": "pass", - "version": "1.0.1", - "engines": { - "isaac_sim": { - "passed": true, - "tests": { - "culling_xz": { - "passed": true, - "status": "pass", - "name": "culling_xz", - "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py", - "provider": "simready.foundation.tier_core.runtime_tests", - "version": "2.0.2" - }, - "light_response": { - "passed": true, - "status": "pass", - "name": "light_response", - "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py", - "provider": "simready.foundation.tier_core.runtime_tests", - "version": "2.0.3" - }, - 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"unit": null + }, + "motion_history_dgv_joint_002": { + "value": { + "schema_version": 1, + "name": "dgv_joint_002", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 2500.0, + "damping": 100.0, + "max_force": 10000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5260797472252362, + "start": 0.0024809716269373894, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 40, + "json": "motion_history/dgv_joint_002.json", + "csv": "motion_history/dgv_joint_002.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_003": { + "value": { + "schema_version": 1, + "name": "dgv_joint_003", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 2500.0, + "damping": 100.0, + "max_force": 5000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5213277825201713, + "start": -0.0022709930781275034, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 33, + "json": "motion_history/dgv_joint_003.json", + "csv": "motion_history/dgv_joint_003.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_004": { + "value": { + "schema_version": 1, + "name": "dgv_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation 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"motion_history/dgv_joint_004.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_005": { + "value": { + "schema_version": 1, + "name": "dgv_joint_005", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 2500.0, + "damping": 100.0, + "max_force": 1000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235708204796593, + "start": -2.7955118639511056e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 33, + "json": "motion_history/dgv_joint_005.json", + "csv": "motion_history/dgv_joint_005.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_006": { + "value": { + "schema_version": 1, + "name": "dgv_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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 2500.0, + "damping": 100.0, + "max_force": 900.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987756479625, + "start": 4.9663693296730926e-11, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 32, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 23.531, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 6, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 0, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 0, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 5.080273543165355, + "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": 0.86, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 107.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.969, + "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 + }, + "dgv_joints_tested": { + "value": 6, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 6, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 1666.666748046875, + "damping": 0.0, + "max_force": 8000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5236714307571729, + "start": 7.265515887411311e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 109, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_002": { + "value": { + "schema_version": 1, + "name": "dgv_joint_002", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 2083.333251953125, + "damping": 0.0, + "max_force": 10000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5251399355289378, + "start": 0.001541159930638969, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 188, + "json": "motion_history/dgv_joint_002.json", + "csv": "motion_history/dgv_joint_002.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_003": { + "value": { + "schema_version": 1, + "name": "dgv_joint_003", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 1041.666748046875, + "damping": 0.0, + "max_force": 5000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5186296634889059, + "start": -0.004969112109392881, + "tolerance": 0.02617993877991494 + }, + 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"/World/AssetRoot/Asset/joints/J4", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 288.46148681640625, + "damping": 0.0, + "max_force": 2000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5234389602224893, + "start": -0.00015981537580955774, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 84, + "json": "motion_history/dgv_joint_004.json", + "csv": "motion_history/dgv_joint_004.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_005": { + "value": { + "schema_version": 1, + "name": "dgv_joint_005", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 144.23080444335938, + "damping": 0.0, + "max_force": 1000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5231575555913933, + "start": -0.0004412200069054961, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 84, + "json": "motion_history/dgv_joint_005.json", + "csv": "motion_history/dgv_joint_005.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_006": { + "value": { + "schema_version": 1, + "name": "dgv_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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 91.21620178222656, + "damping": 0.0, + "max_force": 900.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987724148895, + "start": -3.1834093139337938e-09, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 76, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "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": "effort_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 61.86, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 6, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 0, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 5.082102612169778, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "eff_force_point_observation": { + "value": { + "basis": "live child-body center of mass", + "unit": "native articulation world coordinates", + "joint": "J6", + "body_path": "/World/AssetRoot/Asset/J6_link", + "direction": "-XZ", + "world_com": [ + 1.3627803445677582, + 7.015652550605416e-06, + 1.6245326930269481 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 2.078, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 72, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 28.86, + "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 + }, + "eff_joints_tested": { + "value": 6, + "unit": null + }, + "eff_joints_passed": { + "value": 6, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "J1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "J2", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "J3", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "J4", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "J5", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "J6", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/J1_link", + "runtime_lower": -3.2288591861724854, + "runtime_upper": 3.2288591861724854, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "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": 2500.0, + "damping": 100.0, + "max_force": 8000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + }, + "motion_history_eff_joint_002": { + "value": { + "schema_version": 1, + "name": "eff_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/J2_link", + "runtime_lower": -1.3089967966079712, + "runtime_upper": 2.6179935932159424, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "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": 2500.0, + "damping": 100.0, + "max_force": 10000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_002.json", + "csv": "motion_history/eff_joint_002.csv" + }, + "unit": null + }, + "motion_history_eff_joint_003": { + "value": { + "schema_version": 1, + "name": "eff_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/J3_link", + "runtime_lower": -1.4049900770187378, + "runtime_upper": 3.5779247283935547, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "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": 2500.0, + "damping": 100.0, + "max_force": 5000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_003.json", + "csv": "motion_history/eff_joint_003.csv" + }, + "unit": null + }, + "motion_history_eff_joint_004": { + "value": { + "schema_version": 1, + "name": "eff_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/J4_link", + "runtime_lower": -6.981316566467285, + "runtime_upper": 6.981316566467285, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "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": 2500.0, + "damping": 100.0, + "max_force": 2000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_004.json", + "csv": "motion_history/eff_joint_004.csv" + }, + "unit": null + }, + "motion_history_eff_joint_005": { + "value": { + "schema_version": 1, + "name": "eff_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/J5_link", + "runtime_lower": -2.181661367416382, + "runtime_upper": 2.181661367416382, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "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": 2500.0, + "damping": 100.0, + "max_force": 1000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_005.json", + "csv": "motion_history/eff_joint_005.csv" + }, + "unit": null + }, + "motion_history_eff_joint_006": { + "value": { + "schema_version": 1, + "name": "eff_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/J6_link", + "runtime_lower": -6.981316566467285, + "runtime_upper": 6.981316566467285, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "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": 2500.0, + "damping": 100.0, + "max_force": 900.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_006.json", + "csv": "motion_history/eff_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "effort_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 94.453, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 6, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 0, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 5.080273543165355, + "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": 1.689, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 72, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 23.46, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.25, + "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 + }, + "eff_joint_results": { + "value": [ + { + "name": "J1", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "J2", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "J3", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "J4", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "J5", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "J6", + "broke_directions": [], + 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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 IK evid [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": 8.25, + "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. 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"unit": null + }, + "jm_joint_J5_rot_deg": { + "value": 123.07, + "unit": null + }, + "jm_joint_J5_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_J5_bbox_m": { + "value": 0.3643, + "unit": null + }, + "jm_joint_J5_translation_stage_units": { + "value": 1.9907858959991225e-07, + "unit": null + }, + "jm_joint_J5_bbox_diagonal_stage_units": { + "value": 0.3643111226863532, + "unit": null + }, + "jm_joint_J5_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_J5_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_J5_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_J5_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_J5_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_J5_pct_of_travel": { + "value": 98.5, + "unit": null + }, + "jm_joint_J5_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_J6_rot_deg": { + "value": 179.959, + "unit": null + }, + "jm_joint_J6_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_J6_bbox_m": { + "value": 0.1779, + "unit": null + }, + "jm_joint_J6_translation_stage_units": { + "value": 9.15677693487799e-16, + "unit": null + }, + "jm_joint_J6_bbox_diagonal_stage_units": { + "value": 0.17790606747833818, + "unit": null + }, + "jm_joint_J6_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_J6_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_J6_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_J6_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_J6_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_J6_pct_of_travel": { + "value": 45.0, + "unit": null + }, + "jm_joint_J6_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 6, + "unit": null + }, + "jm_joints_passed": { + "value": 6, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_J1_status": { + "value": "passed", + "unit": null + }, + "jm_joint_J2_status": { + "value": "passed", + "unit": null + }, + "jm_joint_J3_status": { + "value": "passed", + "unit": null + }, + "jm_joint_J4_status": { + "value": "passed", + "unit": null + }, + "jm_joint_J5_status": { + "value": "passed", + "unit": null + }, + "jm_joint_J6_status": { + "value": "passed", + "unit": null + }, + "motion_history_joint_movement_000": { + "value": { + "schema_version": 1, + "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": 13.906, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.451, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 215.03, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.25, + "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": 0.896552, + "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": 26, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.879207, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.031641, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 13.906, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.451, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 215.03, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.25, + "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": 0.896552, + "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": 26, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.879207, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.031641, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 32.969, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 5.531, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1106.2, + "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": 12, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 12, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 12, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 12, + "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": 38, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 38495, + "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": 32.969, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 5.531, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1106.2, + "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": 12, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 12, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 12, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 12, + "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": 38, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 38495, + "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": 35.172, + "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": 5.082102612169778, + "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": 1.0332395943618031, + "velocity_hint": 3.141592653589793, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.7749296957713523, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0032243891855301063 + }, + { + "name": "J2", + "index": 1, + "displacement": 0.02391496385447678, + "velocity_hint": 3.141592653589793, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.017936222890857584, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 7.463046445905369e-05 + }, + { + "name": "J3", + "index": 2, + "displacement": 0.29143081594258535, + "velocity_hint": 3.141592653589793, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.21857311195693901, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0009094564091263399 + }, + { + "name": "J4", + "index": 3, + "displacement": 2.234033156007281, + "velocity_hint": 4.537856055185257, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 1.6755248670054608, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.006971657288060915 + }, + { + "name": "J5", + "index": 4, + "displacement": 0.6981042255975627, + "velocity_hint": 4.537856055185257, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.523578169198172, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00217854573873545 + }, + { + "name": "J6", + "index": 5, + "displacement": 2.234021301330446, + "velocity_hint": 6.457718232379019, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 1.6755159759978346, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.006971620293648397 + } + ], + "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": 456 + }, + { + "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": 1.54189591884613, + "velocity_hint": 3.141592653589793, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 1.1564219391345976, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.004811732489784504 + }, + { + "name": "J2", + "index": 1, + "displacement": 0.9404137878865002, + "velocity_hint": 3.141592653589793, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.7053103409148751, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.002934711430080117 + }, + { + "name": "J3", + "index": 2, + "displacement": 1.200050296783447, + "velocity_hint": 3.141592653589793, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.9000377225875853, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.003744948625818978 + }, + { + "name": "J4", + "index": 3, + "displacement": 3.3337398147583004, + "velocity_hint": 4.537856055185257, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 2.5003048610687255, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.010403467564330526 + }, + { + "name": "J5", + "index": 4, + "displacement": 1.0417892718315123, + "velocity_hint": 4.537856055185257, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.7813419538736341, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.003251069819647512 + }, + { + "name": "J6", + "index": 5, + "displacement": 3.333755073547363, + "velocity_hint": 6.457718232379019, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 2.5003163051605224, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.010403515181813816 + } + ], + "joints_omitted": 0, + "iteration": 1, + "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", + "coordinate_basis": "same native runtime joint coordinates for displacement and speed", + "completed_iteration_ticks": 461 + }, + { + "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": 0.5090440511703491, + "velocity_hint": 3.141592653589793, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.38178303837776184, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0015885532673287628 + }, + { + "name": "J2", + "index": 1, + "displacement": 0.32108062505722046, + "velocity_hint": 3.141592653589793, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.24081046879291534, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0010019833741914397 + }, + { + "name": "J3", + "index": 2, + "displacement": 0.390861451625824, + "velocity_hint": 3.141592653589793, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.293146088719368, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0012197455890650133 + }, + { + "name": "J4", + "index": 3, + "displacement": 1.100448727607727, + "velocity_hint": 4.537856055185257, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.8253365457057953, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.003434126020618322 + }, + { + "name": "J5", + "index": 4, + "displacement": 0.3438818156719208, + "velocity_hint": 4.537856055185257, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.2579113617539406, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0010731381313711097 + }, + { + "name": "J6", + "index": 5, + "displacement": 1.1004457473754883, + "velocity_hint": 6.457718232379019, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.8253343105316162, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.003434116720324454 + } + ], + "joints_omitted": 0, + "iteration": 2, + "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", + "coordinate_basis": "same native runtime joint coordinates for displacement and speed", + "completed_iteration_ticks": 446 + } + ], + "unit": null + }, + "mjc_timing_iterations_omitted": { + "value": 0, + "unit": null + }, + "mjc_completed_nominal_ticks": { + "value": 1603, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.969, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 164.08, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.703, + "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": -1.0252784490585327, + "final_error": 0.007956490516662695, + "entered_tolerance": true + }, + { + "name": "J2", + "target": 0.026179935932159393, + "final_position": 0.028243841603398323, + "final_error": 0.0020639056712389303, + "entered_tolerance": true + }, + { + "name": "J3", + "target": 0.28920095682144153, + "final_position": 0.2850502133369446, + "final_error": 0.004150743484496955, + "entered_tolerance": true + }, + { + "name": "J4", + "target": -2.2340213012695314, + "final_position": -2.216729164123535, + "final_error": 0.0172921371459962, + "entered_tolerance": true + }, + { + "name": "J5", + "target": -0.6981316375732423, + "final_position": -0.6927234530448914, + "final_error": 0.005408184528350901, + "entered_tolerance": true + }, + { + "name": "J6", + "target": -2.2340213012695314, + "final_position": -2.2167444229125977, + "final_error": 0.0172768783569337, + "entered_tolerance": true + } + ], + "unit": null + }, + "mjc_iteration_1_joints": { + "value": [ + { + "name": "J1", + "target": 0.5166174697875974, + "final_position": 0.5090440511703491, + "final_error": 0.007573418617248251, + "entered_tolerance": true + }, + { + "name": "J2", + "target": 0.9686576294898985, + "final_position": 0.975579023361206, + "final_error": 0.006921393871307524, + "entered_tolerance": true + }, + { + "name": "J3", + "target": 1.4851005101203916, + "final_position": 1.4773287773132324, + "final_error": 0.0077717328071591485, + "entered_tolerance": true + }, + { + "name": "J4", + "target": 1.1170106506347652, + "final_position": 1.100448727607727, + "final_error": 0.016561923027038183, + "entered_tolerance": true + }, + { + "name": "J5", + "target": 0.3490658187866209, + "final_position": 0.3438818156719208, + "final_error": 0.005184003114700131, + "entered_tolerance": true + }, + { + "name": "J6", + "target": 1.1170106506347652, + "final_position": 1.1004457473754883, + "final_error": 0.016564903259276953, + "entered_tolerance": true + } + ], + "unit": null + }, + "mjc_iteration_2_joints": { + "value": [ + { + "name": "J1", + "target": 0.0, + "final_position": 0.007582806050777435, + "final_error": 0.007582806050777435, + "entered_tolerance": true + }, + { + "name": "J2", + "target": 0.6544983983039856, + "final_position": 0.668472170829773, + "final_error": 0.013973772525787354, + "entered_tolerance": true + }, + { + "name": "J3", + "target": 1.0864673256874084, + "final_position": 1.0904229879379272, + "final_error": 0.003955662250518799, + "entered_tolerance": true + }, + { + "name": "J4", + "target": 0.0, + "final_position": 0.016519200056791306, + "final_error": 0.016519200056791306, + "entered_tolerance": true + }, + { + "name": "J5", + "target": 0.0, + "final_position": 0.005131894256919622, + "final_error": 0.005131894256919622, + "entered_tolerance": true + }, + { + "name": "J6", + "target": 0.0, + "final_position": 0.01650857739150524, + "final_error": 0.01650857739150524, + "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 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": "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": 2500.0, + "damping": 100.0, + "max_force": 8000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 342, + "json": "motion_history/mjc_joint_000.json", + "csv": "motion_history/mjc_joint_000.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_001": { + "value": { + "schema_version": 1, + "name": "mjc_joint_001", + "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": "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": 2500.0, + "damping": 100.0, + "max_force": 10000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 342, + "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": 2500.0, + "damping": 100.0, + "max_force": 5000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 342, + "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 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"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": 2500.0, + "damping": 100.0, + "max_force": 8000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 12, + "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": 2500.0, + "damping": 100.0, + "max_force": 10000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 15, + "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": 2500.0, + "damping": 100.0, + "max_force": 5000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 15, + "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": 2500.0, + "damping": 100.0, + "max_force": 2000.0 + } + }, + "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_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": 2500.0, + "damping": 100.0, + "max_force": 1000.0 + } + }, + "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_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": 2500.0, + "damping": 100.0, + "max_force": 900.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 15, + "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": 62.547, + "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": 5.080273543165355, + "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": 2.313, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 19, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 121.74, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.016, + "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": 1666.666748046875, + "damping": 0.0, + "max_force": 8000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 84, + "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": 2083.333251953125, + "damping": 0.0, + "max_force": 10000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 87, + "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": 1041.666748046875, + "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": 98, + "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": 288.46148681640625, + "damping": 0.0, + "max_force": 2000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 116, + "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": 144.23080444335938, + "damping": 0.0, + "max_force": 1000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 45, + "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": 91.21620178222656, + "damping": 0.0, + "max_force": 900.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 86, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + } + ] +} diff --git a/fanuc_m710id_70/.metadata/m710id_70_validation.json b/fanuc_m710id_70/.metadata/m710id_70_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..bfc4d23ff2cef258c7561f9140ecad934cf57a56 --- /dev/null +++ b/fanuc_m710id_70/.metadata/m710id_70_validation.json @@ -0,0 +1,221 @@ +{ + "simready_usd/m710id_70.usda": { + "features_summary": { + "CAP000_Core.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP023_RobotMaterials.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP025_RosBridge.Ros.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "optional requirements": "['com.nvidia.simready.ROS.001']", + "passed": false, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + } + }, + "profile_id": "Robot-Body", + "profile_version": "3.0.0", + "simready_validate_version": null, + "tier_versions": {} + } +} diff --git a/fanuc_m710id_70/.simready/validation.json b/fanuc_m710id_70/.simready/validation.json deleted file mode 100644 index fab0718f28b8c7b0b3236989a9e0a1d8def353ea..0000000000000000000000000000000000000000 --- a/fanuc_m710id_70/.simready/validation.json +++ /dev/null @@ -1,1173 +0,0 @@ -{ - "SimReady_Metadata": { - "validation": { - "profile": "Robot-Body", - "profile_version": "3.0.0", - "validated_features": { - "2026-10-30": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP003_RigidBody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.RobotMuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP021_RobotCore.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - 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- "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710id_70.3.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710id_70.3.0.1", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "7b1175eb4078c515107719993a5408a09fc028ba05ed8e5d622b1a656f8b2a6f" + "sha256": "6089a3b07dc50e555c5f0f311cfd3b2f0a051698bd501a4073d3a1b33a5e3d5a" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "b185e47d27cb933875dade7f535467a41f223369d5bf41365396f7cbec44dc72" + "sha256": "e628fb43999bed2969d835f5aaf503d66833108eb6909787ea020c241d8eaafc" } }, { @@ -26,12 +26,24 @@ "hash": { "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } + }, + { + "name": "m710id_70_benchmark.json", + "hash": { + "sha256": "a8ead2f976f6f1a9113823c5f9bbf719d9c69503f4189de5e5df6d470803a3d9" + } + }, + { + "name": "m710id_70_validation.json", + "hash": { + "sha256": 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"profile_version": "1.0.0", - "timestamp": "2026-11-02T23:09:29", + "timestamp": "2026-11-03T21:23:08", "assets": [ { "asset": "m800_60_20b.usda", @@ -29,6 +29,6 @@ } ], "content_hash": { - "sha256": "651f193e803115b38367a509afa264e00ae13b6869a7f3f8e708277bb3cd3475" + "sha256": "a2a484871ca915319c2a1763920c417c642a24935e641198de97d4e89dfdd1b7" } } diff --git a/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json similarity index 68% rename from fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json rename to fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 1e47c46fde2977011b3a8b0493002bcde64028b9..09f02bb834d485455e5be5cb1404710818d4a4e6 100644 --- a/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -1,14 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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": "display_color_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 55.11, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 87, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 7, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 7, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 2.015, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 287.86, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.672, + "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 + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 36064, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 36362, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.111, + 0.1108, + 0.1108 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.000139, + "unit": null + }, + "display_color_response_ratio": { + "value": 1.0, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.999473, + "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": "drive_gain_validation", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 9.563, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 6, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 0, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 0, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 4.878905591434034, + "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": 0.843, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 6, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 140.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.828, + "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 + }, + "dgv_joints_tested": { + "value": 6, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 6, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235985408629885, + "start": -2.3473531030049344e-07, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 29, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_002": { + "value": { + "schema_version": 1, + "name": "dgv_joint_002", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 10000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5241104994016551, + "start": 0.0005117238033562899, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 32, + "json": "motion_history/dgv_joint_002.json", + "csv": "motion_history/dgv_joint_002.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_003": { + "value": { + "schema_version": 1, + "name": "dgv_joint_003", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 7000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5232120149990861, + "start": -0.000386760599212721, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 35, + "json": "motion_history/dgv_joint_003.json", + "csv": "motion_history/dgv_joint_003.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_004": { + "value": { + "schema_version": 1, + "name": "dgv_joint_004", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 2000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235979410918331, + "start": -8.345064657078183e-07, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 33, + "json": "motion_history/dgv_joint_004.json", + "csv": "motion_history/dgv_joint_004.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_005": { + "value": { + "schema_version": 1, + "name": "dgv_joint_005", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 1000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.523594183994288, + "start": -4.591604010784067e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 33, + "json": "motion_history/dgv_joint_005.json", + "csv": "motion_history/dgv_joint_005.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_006": { + "value": { + "schema_version": 1, + "name": "dgv_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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 600.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987756011701, + "start": 2.8712865418611955e-12, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 32, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 28.265, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 6, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 0, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 0, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 4.878550097350243, + "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": 1.468, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 163.11, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.656, + "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 + }, + "dgv_joints_tested": { + "value": 6, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 6, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 2500.000244140625, + "damping": 0.0, + "max_force": 10000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5236806329227021, + "start": 8.1857324403245e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 129, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_002": { + "value": { + "schema_version": 1, + "name": "dgv_joint_002", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 2500.000244140625, + "damping": 0.0, + "max_force": 10000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5261246639816873, + "start": 0.0025258883833885193, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 206, + "json": "motion_history/dgv_joint_002.json", + "csv": "motion_history/dgv_joint_002.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_003": { + "value": { + "schema_version": 1, + "name": "dgv_joint_003", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "J3", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": 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"value": 0, + "unit": null + }, + "frs_joints_passed": { + "value": 6, + "unit": null + }, + "frs_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_frs_joint_001": { + "value": { + "schema_version": 1, + "name": "frs_joint_001", + "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": -3.2288591861724854, + "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, + 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+ "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": -1.5707963705062866, + "runtime_upper": 2.356194496154785, + "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": 2.6179935932159424, + "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": 2500.000244140625, + "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": 356, + "json": "motion_history/frs_joint_002.json", + "csv": "motion_history/frs_joint_002.csv" + }, + "unit": null + }, + "motion_history_frs_joint_003": { + "value": { + "schema_version": 1, + "name": "frs_joint_003", + "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": -1.3439035415649414, + "runtime_upper": 2.443460702896118, + "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": 2.6179935932159424, + "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": "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": 1750.000244140625, + "damping": 0.0, + "max_force": 7000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 358, + "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": 4.537856101989746, + "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": "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": 288.46148681640625, + "damping": 0.0, + "max_force": 2000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 330, + "json": "motion_history/frs_joint_004.json", + "csv": "motion_history/frs_joint_004.csv" + }, + "unit": null + }, + "motion_history_frs_joint_005": { + "value": { + "schema_version": 1, + "name": "frs_joint_005", + "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": -2.181661367416382, + "runtime_upper": 2.181661367416382, + "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": 4.537856101989746, + "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": "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": 144.23080444335938, + "damping": 0.0, + "max_force": 1000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 285, + "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": 6.981316566467285, + "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": 56.25, + "damping": 0.0, + "max_force": 600.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 280, + "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": 2.516, + "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/m800_60_20b/simready_usd/m800_60_20b.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 IK [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": 8.172, + "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/m800_60_20b/simready_usd/m800_60_20b.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 IK [message abbreviated]", + "metrics": {}, + "kit_logs": [], + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + { + "test_name": "jacobian_ik", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 82.625, + "message": "", + "metrics": { + "jik_joints_without_safe_range": { + "value": [], + "unit": null + }, + "jik_sampled_joint_count": { + "value": 6, + "unit": null + }, + "jik_robot_reach": { + "value": 1.3849, + "unit": null + }, + "jik_target_radius": { + "value": 1.2464, + "unit": null + }, + "jik_base_position_x": { + "value": 0.0, + "unit": null + }, + "jik_base_position_y": { + "value": 0.0, + "unit": null + }, + "jik_base_position_z": { + "value": 0.0, + "unit": null + }, + "jik_max_observed_reach": { + "value": 2.3603, + "unit": null + }, + "jik_distinct_reachable_targets": { + "value": 5, + "unit": null + }, + "jik_guard_reference": { + 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"jm_joint_J4_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_J4_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_J4_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_J4_pct_of_travel": { + "value": 50.0, + "unit": null + }, + "jm_joint_J4_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_J5_rot_deg": { + "value": 123.07, + "unit": null + }, + "jm_joint_J5_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_J5_bbox_m": { + "value": 0.3615, + "unit": null + }, + "jm_joint_J5_translation_stage_units": { + "value": 1.8507395201664562e-07, + "unit": null + }, + "jm_joint_J5_bbox_diagonal_stage_units": { + "value": 0.36145657256377656, + "unit": null + }, + "jm_joint_J5_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_J5_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_J5_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_J5_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_J5_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_J5_pct_of_travel": { + "value": 98.5, + "unit": null + }, + "jm_joint_J5_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_J6_rot_deg": { + "value": 179.977, + "unit": null + }, + "jm_joint_J6_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_J6_bbox_m": { + "value": 0.18, + "unit": null + }, + "jm_joint_J6_translation_stage_units": { + "value": 9.057848289240456e-16, + "unit": null + }, + "jm_joint_J6_bbox_diagonal_stage_units": { + "value": 0.18001824527393648, + "unit": null + }, + "jm_joint_J6_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_J6_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_J6_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_J6_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_J6_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_J6_pct_of_travel": { + "value": 50.0, + "unit": null + }, + "jm_joint_J6_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 6, + "unit": null + }, + "jm_joints_passed": { + "value": 6, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_J1_status": { + "value": "passed", + "unit": null + }, + "jm_joint_J2_status": { + "value": "passed", + "unit": null + }, + "jm_joint_J3_status": { + "value": "passed", + "unit": null + }, + "jm_joint_J4_status": { + "value": "passed", + "unit": null + }, + "jm_joint_J5_status": { + "value": "passed", + "unit": null + }, + "jm_joint_J6_status": { + "value": "passed", + "unit": null + }, + "motion_history_joint_movement_000": { + "value": { + "schema_version": 1, + "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": 12.296, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 5.436, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 181.2, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.11, + "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": 0.901259, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.039421, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 12.296, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 5.436, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 181.2, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.11, + "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": 0.901259, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.039421, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 31.5, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.703, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 740.6, + "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 + }, + "mdl_surface_materials_with_universal": { + "value": 19, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 19, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 19, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 19, + "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": 87, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 36016, + "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": 31.5, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.703, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 740.6, + "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 + }, + "mdl_surface_materials_with_universal": { + "value": 19, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 19, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 19, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 19, + "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": 87, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 36016, + "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": 33.734, + "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": 4.878905591434034, + "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": 1.0332348266121734, + "velocity_hint": 2.6179935932159424, + "velocity_hint_source": "runtime joint velocity ceiling", + "estimated_command_peak_speed": 0.77492611995913, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0032243743070058707 + }, + { + "name": "J2", + "index": 1, + "displacement": 0.23613316648174087, + "velocity_hint": 2.6179935932159424, + "velocity_hint_source": "runtime joint velocity ceiling", + "estimated_command_peak_speed": 0.17709987486130566, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0007368912617203641 + }, + { + "name": "J3", + "index": 2, + "displacement": 0.055809995713643756, + "velocity_hint": 2.6179935932159424, + "velocity_hint_source": "runtime joint velocity ceiling", + "estimated_command_peak_speed": 0.04185749678523282, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0001741640057209646 + }, + { + "name": "J4", + "index": 3, + "displacement": 2.010618513240627, + "velocity_hint": 4.537856055185257, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 1.5079638849304702, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.006274456211024352 + }, + { + "name": "J5", + "index": 4, + "displacement": 0.6981270119432157, + "velocity_hint": 4.537856055185257, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.5235952589574118, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0021786168471665452 + }, + { + "name": "J6", + "index": 5, + "displacement": 2.0106193542510504, + "velocity_hint": 6.9813164753451, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 1.507964515688288, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0062744588355317064 + } + ], + "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": 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": 1.5412161874771115, + "velocity_hint": 2.6179935932159424, + "velocity_hint_source": "runtime joint velocity ceiling", + "estimated_command_peak_speed": 1.1559121406078336, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.004809611279483761 + }, + { + "name": "J2", + "index": 1, + "displacement": 0.9403845173120498, + "velocity_hint": 2.6179935932159424, + "velocity_hint_source": "runtime joint velocity ceiling", + "estimated_command_peak_speed": 0.7052883879840373, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0029346200865765226 + }, + { + "name": "J3", + "index": 2, + "displacement": 0.9088207551836966, + "velocity_hint": 2.6179935932159424, + "velocity_hint_source": "runtime joint velocity ceiling", + "estimated_command_peak_speed": 0.6816155663877725, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.002836120325420688 + }, + { + "name": "J4", + "index": 3, + "displacement": 2.9991235494613644, + "velocity_hint": 4.537856055185257, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 2.2493426620960233, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.009359244062796535 + }, + { + "name": "J5", + "index": 4, + "displacement": 1.041362085342407, + "velocity_hint": 4.537856055185257, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.7810215640068052, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0032497367159667334 + }, + { + "name": "J6", + "index": 5, + "displacement": 2.9991256952285763, + "velocity_hint": 6.9813164753451, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 2.2493442714214322, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.009359250758986803 + } + ], + "joints_omitted": 0, + "iteration": 1, + "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", + "coordinate_basis": "same native runtime joint coordinates for displacement and speed", + "completed_iteration_ticks": 460 + }, + { + "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": 0.5082160830497742, + "velocity_hint": 2.6179935932159424, + "velocity_hint_source": "runtime joint velocity ceiling", + "estimated_command_peak_speed": 0.3811620622873306, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0015859694605602215 + }, + { + "name": "J2", + "index": 1, + "displacement": 0.3105291724205017, + "velocity_hint": 2.6179935932159424, + "velocity_hint_source": "runtime joint velocity ceiling", + "estimated_command_peak_speed": 0.23289687931537628, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0009690558809527516 + }, + { + "name": "J3", + "index": 2, + "displacement": 0.2976328730583191, + "velocity_hint": 2.6179935932159424, + "velocity_hint_source": "runtime joint velocity ceiling", + "estimated_command_peak_speed": 0.22322465479373932, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0009288109189498073 + }, + { + "name": "J4", + "index": 3, + "displacement": 0.9888898730278015, + "velocity_hint": 4.537856055185257, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.7416674047708511, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.003085988796476258 + }, + { + "name": "J5", + "index": 4, + "displacement": 0.3433625400066376, + "velocity_hint": 4.537856055185257, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.2575219050049782, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0010715176487163802 + }, + { + "name": "J6", + "index": 5, + "displacement": 0.9888908267021179, + "velocity_hint": 6.9813164753451, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.7416681200265884, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0030859917725756247 + } + ], + "joints_omitted": 0, + "iteration": 2, + "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", + "coordinate_basis": "same native runtime joint coordinates for displacement and speed", + "completed_iteration_ticks": 443 + } + ], + "unit": null + }, + "mjc_timing_iterations_omitted": { + "value": 0, + "unit": null + }, + "mjc_completed_nominal_ticks": { + "value": 1598, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 2.406, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 200.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.844, + "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": -1.0245987176895142, + "final_error": 0.00863622188568125, + "entered_tolerance": true + }, + { + "name": "J2", + "target": -0.23561947584152232, + "final_position": -0.23352618515491486, + "final_error": 0.002093290686607463, + "entered_tolerance": true + }, + { + "name": "J3", + "target": -0.05619969844818118, + "final_position": -0.0560530349612236, + "final_error": 0.0001466634869575767, + "entered_tolerance": true + }, + { + "name": "J4", + "target": -2.010619354248047, + "final_position": -1.9938138723373413, + "final_error": 0.016805481910705744, + "entered_tolerance": true + }, + { + "name": "J5", + "target": -0.6981316375732423, + "final_position": -0.6922962665557861, + "final_error": 0.005835371017456126, + "entered_tolerance": true + }, + { + "name": "J6", + "target": -2.010619354248047, + "final_position": -1.9938160181045532, + "final_error": 0.01680333614349383, + "entered_tolerance": true + } + ], + "unit": null + }, + "mjc_iteration_1_joints": { + "value": [ + { + "name": "J1", + "target": 0.5166174697875974, + "final_position": 0.5082160830497742, + "final_error": 0.008401386737823202, + "entered_tolerance": true + }, + { + "name": "J2", + "target": 0.7068583321571349, + "final_position": 0.703228235244751, + "final_error": 0.0036300969123839177, + "entered_tolerance": true + }, + { + "name": "J3", + "target": 0.852767720222473, + "final_position": 0.8474114537239075, + "final_error": 0.005356266498565576, + "entered_tolerance": true + }, + { + "name": "J4", + "target": 1.005309677124023, + "final_position": 0.9888898730278015, + "final_error": 0.01641980409622157, + "entered_tolerance": true + }, + { + "name": "J5", + "target": 0.3490658187866209, + "final_position": 0.3433625400066376, + "final_error": 0.005703278779983334, + "entered_tolerance": true + }, + { + "name": "J6", + "target": 1.005309677124023, + "final_position": 0.9888908267021179, + "final_error": 0.016418850421905162, + "entered_tolerance": true + } + ], + "unit": null + }, + "mjc_iteration_2_joints": { + "value": [ + { + "name": "J1", + "target": 0.0, + "final_position": 0.008933255448937416, + "final_error": 0.008933255448937416, + "entered_tolerance": true + }, + { + "name": "J2", + "target": 0.39269906282424927, + "final_position": 0.3992590010166168, + "final_error": 0.006559938192367554, + "entered_tolerance": true + }, + { + "name": "J3", + "target": 0.5497785806655884, + "final_position": 0.5546424388885498, + "final_error": 0.004863858222961426, + "entered_tolerance": true + }, + { + "name": "J4", + "target": 0.0, + "final_position": 0.017424488440155983, + "final_error": 0.017424488440155983, + "entered_tolerance": true + }, + { + "name": "J5", + "target": 0.0, + "final_position": 0.0060456423088908195, + "final_error": 0.0060456423088908195, + "entered_tolerance": true + }, + { + "name": "J6", + "target": 0.0, + "final_position": 0.017425501719117165, + "final_error": 0.017425501719117165, + "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 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": "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": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 342, + "json": "motion_history/mjc_joint_000.json", + "csv": "motion_history/mjc_joint_000.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_001": { + "value": { + "schema_version": 1, + "name": "mjc_joint_001", + "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": "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": 10000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 342, + "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": 7000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + 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"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": 4.878905591434034, + "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": 2.454, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 6, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 409.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.485, + "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": 14, + "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": 10000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 12, + "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": 7000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 15, + "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": 2000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 17, + "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": 1000.0 + } + }, + "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_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": 600.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 14, + "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": 28.532, + "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": 4.878550097350243, + "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": 1.391, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 19, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 73.21, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.219, + "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": 2500.000244140625, + "damping": 0.0, + "max_force": 10000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 104, + "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": 2500.000244140625, + "damping": 0.0, + "max_force": 10000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 90, + "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": 1750.000244140625, + "damping": 0.0, + "max_force": 7000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 86, + "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": 288.46148681640625, + "damping": 0.0, + "max_force": 2000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 106, + "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": 144.23080444335938, + "damping": 0.0, + "max_force": 1000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 45, + "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": 56.25, + "damping": 0.0, + "max_force": 600.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 74, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + } + ] +} diff --git a/fanuc_m800_60_20b/.metadata/m800_60_20b_validation.json b/fanuc_m800_60_20b/.metadata/m800_60_20b_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..6ceb2d18cfd0725fa42fec15e32199c91f2e3917 --- /dev/null +++ b/fanuc_m800_60_20b/.metadata/m800_60_20b_validation.json @@ -0,0 +1,221 @@ +{ + "simready_usd/m800_60_20b.usda": { + "features_summary": { + "CAP000_Core.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP023_RobotMaterials.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP025_RosBridge.Ros.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "optional requirements": "['com.nvidia.simready.ROS.001']", + "passed": false, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + } + }, + "profile_id": "Robot-Body", + "profile_version": "3.0.0", + "simready_validate_version": null, + "tier_versions": {} + } +} diff --git a/fanuc_m800_60_20b/.simready/validation.json b/fanuc_m800_60_20b/.simready/validation.json deleted file mode 100644 index fab0718f28b8c7b0b3236989a9e0a1d8def353ea..0000000000000000000000000000000000000000 --- a/fanuc_m800_60_20b/.simready/validation.json +++ /dev/null @@ -1,1173 +0,0 @@ -{ - "SimReady_Metadata": { - "validation": { - "profile": "Robot-Body", - "profile_version": "3.0.0", - "validated_features": { - "2026-10-30": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP003_RigidBody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.RobotMuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP021_RobotCore.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - 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"blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET003_RigidBody.PhysX.0-4-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-4-0" - }, - "FET004_Multibody.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.Newton.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "FET004_Multibody.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET004_Multibody.PhysX.0-4-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", - "passed": true, - "version": "0-4-0" - }, - "FET004_Multibody.RobotNewton.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET006_Materials.MDL.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - 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"dependencies": "['FET004_Multibody.PhysX.0-4-0']", - "passed": true, - "version": "0-2-0" - } - } - } - }, - "runtime_testing": { - "tested_features": { - "2026-10-31T20:07:08.573916+00:00": { - "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { - "passed": true, - "status": "pass", - "version": "1.0.1", - "engines": { - "isaac_sim": { - "passed": true, - "tests": { - "culling_xz": { - "passed": true, - "status": "pass", - "name": "culling_xz", - "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py", - "provider": "simready.foundation.tier_core.runtime_tests", - "version": "2.0.2" - }, - "light_response": { - "passed": true, - "status": "pass", - "name": "light_response", - "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py", - "provider": "simready.foundation.tier_core.runtime_tests", - "version": "2.0.3" - }, - "normals_xz": { - "passed": true, - "status": "pass", - "name": "normals_xz", - "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py", - "provider": "simready.foundation.tier_core.runtime_tests", - "version": "2.0.3" - }, - "pivot": { - "passed": true, - "status": "pass", - "name": "pivot", - "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py", - "provider": "simready.foundation.tier_core.runtime_tests", - "version": "2.0.3" - }, - "presence": { - "passed": true, - "status": "pass", - "name": "presence", - "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py", - "provider": "simready.foundation.tier_core.runtime_tests", - "version": "2.0.1" - } - }, - "status": "pass" - }, - "isaac_sim_newton": { - "passed": true, - "tests": { - "culling_xz": { - 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"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": -2.094395160675049, + "runtime_upper": 1.0471975803375244, + "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": 1.6580628156661987, + "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": 35526.31640625, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 430, + "json": "motion_history/frs_joint_002.json", + "csv": "motion_history/frs_joint_002.csv" + }, + "unit": null + }, + "motion_history_frs_joint_003": { + "value": { + "schema_version": 1, + "name": "frs_joint_003", + "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": -1.1519173383712769, + "runtime_upper": 1.1519173383712769, + "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": 1.6580628156661987, + "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": "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": 35526.31640625, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 329, + "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": 1.6580628156661987, + "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": "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": 1973.6842041015625, + "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": 761, + "json": "motion_history/frs_joint_004.json", + "csv": "motion_history/frs_joint_004.csv" + }, + "unit": null + }, + "motion_history_frs_joint_005": { + "value": { + "schema_version": 1, + "name": "frs_joint_005", + "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": -2.0071287155151367, + "runtime_upper": 2.0071287155151367, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 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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": 2.8797929286956787, + "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": 681.8181762695312, + "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": 471, + "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": 3.469, + "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/m900ia150p/simready_usd/m900ia150p.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 IK ev [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": 18.64, + "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/m900ia150p/simready_usd/m900ia150p.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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+ }, + "mtlx_surface_materials_with_universal": { + "value": 13, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 13, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 13, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 13, + "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": 45, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 39904, + "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": "skipped", + "passed": false, + "duration": 48.312, + "message": "Pivot/origin check did not meet the recommended score (score=0.00, recommended >=0.70). Reported as SKIPPED, not a failure: the correct pivot location depends on the object type, so a sub-threshold result is advisory and does not fail FET001. The tilt and spin videos are kept below so the pivot can be judged visually.\nPivot is 52.2% from base (should be <10%).\nPivot not centered in XY (offset=0.864, size=2.681).\nX-axis tilt causes ground penetration (min_z=-1.502).\nZ-rotation shows orbital motion (radius=0.864).\n\nHow to fix:\n- Move the asset pivot to the bottom-center of the bounding box.\n- The pivot should be at Z=0 (ground level) and centered in XY.\n- In your DCC tool, set the pivot/origin to the base of the object.\n- Check the X-tilt and Z-spin videos for visual reference.\n\nWhen this can be ignored: this check validates ground-placeable\nprops. If your object is a rotating/hinged type (e.g., door, robot\njoint), the pivot should be at the rotation center -- not the base;\nthose are validated under FET021/FET022. Attached objects (cameras,\nwheels) should have their pivot at the attachment point.\n\nINTERIM: pivot/origin (VG.025) is treated as advisory and does not\nfail the feature, pending spec clarification on whether VG.025 is a\nmandatory or optional requirement (refer to docs/spec-clarifications-needed.md).", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.894, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 494.7, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.578, + "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": 0.0, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 52.2, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 0, + "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": 0, + "unit": null + }, + "assessment_advisory": { + "value": { + "status": "completed", + "reason_code": "pivot_score_below_recommendation", + "reason": "Completed pivot measurements are below the recommended score; origin placement depends on object type." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 48.312, + "message": "Pivot/origin check did not meet the recommended score (score=0.00, recommended >=0.70). Reported as SKIPPED, not a failure: the correct pivot location depends on the object type, so a sub-threshold result is advisory and does not fail FET001. The tilt and spin videos are kept below so the pivot can be judged visually.\nPivot is 52.2% from base (should be <10%).\nPivot not centered in XY (offset=0.864, size=2.681).\nX-axis tilt causes ground penetration (min_z=-1.502).\nZ-rotation shows orbital motion (radius=0.864).\n\nHow to fix:\n- Move the asset pivot to the bottom-center of the bounding box.\n- The pivot should be at Z=0 (ground level) and centered in XY.\n- In your DCC tool, set the pivot/origin to the base of the object.\n- Check the X-tilt and Z-spin videos for visual reference.\n\nWhen this can be ignored: this check validates ground-placeable\nprops. If your object is a rotating/hinged type (e.g., door, robot\njoint), the pivot should be at the rotation center -- not the base;\nthose are validated under FET021/FET022. Attached objects (cameras,\nwheels) should have their pivot at the attachment point.\n\nINTERIM: pivot/origin (VG.025) is treated as advisory and does not\nfail the feature, pending spec clarification on whether VG.025 is a\nmandatory or optional requirement (refer to docs/spec-clarifications-needed.md).", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.894, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 494.7, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.578, + "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": 0.0, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 52.2, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 0, + "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": 0, + "unit": null + }, + "assessment_advisory": { + "value": { + "status": "completed", + "reason_code": "pivot_score_below_recommendation", + "reason": "Completed pivot measurements are below the recommended score; origin placement depends on object type." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 14.375, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.469, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1234.5, + "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": 0.18125, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 14.375, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.469, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1234.5, + "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": 0.18125, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 41.469, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.375, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 875.0, + "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 + }, + "universal_surface_materials_with_universal": { + "value": 13, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 13, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 13, + "unit": null + }, + "universal_surface_materials_total": { + "value": 13, + "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 + }, + "universal_surface_deinstanced_prims": { + "value": 45, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 41284, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 41.469, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.375, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 875.0, + "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 + }, + "universal_surface_materials_with_universal": { + "value": 13, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 13, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 13, + "unit": null + }, + "universal_surface_materials_total": { + "value": 13, + "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 + }, + "universal_surface_deinstanced_prims": { + "value": 45, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 41284, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.281, + "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 + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.453, + "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 + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 32.515, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 6, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 2, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 9.89165718178877, + "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": 2.421, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 60, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 40.35, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.781, + "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 + }, + "sta_joints_tested": { + "value": 6, + "unit": null + }, + "sta_joints_passed": { + "value": 6, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 0.23062775010162162, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "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": "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": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + }, + "motion_history_sta_joint_002": { + "value": { + "schema_version": 1, + "name": "sta_joint_002", + "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": "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": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 60, + "json": "motion_history/sta_joint_002.json", + "csv": "motion_history/sta_joint_002.csv" + }, + "unit": null + }, + "motion_history_sta_joint_003": { + "value": { + "schema_version": 1, + "name": "sta_joint_003", + "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": "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": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 63, + "json": "motion_history/sta_joint_003.json", + "csv": "motion_history/sta_joint_003.csv" + }, + "unit": null + }, + "motion_history_sta_joint_004": { + "value": { + "schema_version": 1, + "name": "sta_joint_004", + "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": "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": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + 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}, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 33, + "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": 15, + "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": 22, + "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": 45.562, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 3, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 2, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 3, + "unit": null + }, + "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": 9.889624846952987, + "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": 1.984, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 23, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 86.26, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.813, + "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": 10227.2734375, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "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": 35526.31640625, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "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_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": 35526.31640625, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 67, + "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": 1973.6842041015625, + "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": 1973.6842041015625, + "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": 92, + "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": 681.8181762695312, + "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": [] + } + ] +} diff --git a/fanuc_m900ia150p/.metadata/m900ia150p_validation.json b/fanuc_m900ia150p/.metadata/m900ia150p_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..2a3b537d64d74f8fb4f739b7e91d166dba0f0a89 --- /dev/null +++ b/fanuc_m900ia150p/.metadata/m900ia150p_validation.json @@ -0,0 +1,221 @@ +{ + "simready_usd/m900ia150p.usda": { + "features_summary": { + "CAP000_Core.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": 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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": 2.843, + "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/m900ia200p/simready_usd/m900ia200p.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 IK ev [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": 7.687, + "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/m900ia200p/simready_usd/m900ia200p.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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iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "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": 2368.4208984375, + "damping": 0.0, + "max_force": 6000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 470, + "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; 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": "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": 2763.157958984375, + "damping": 0.0, + "max_force": 7000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 470, + "json": "motion_history/mjc_joint_004.json", + "csv": "motion_history/mjc_joint_004.csv" + }, + "unit": null + }, + "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": 1818.1820068359375, + "damping": 0.0, + "max_force": 8000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 470, + "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": 9.391, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.249, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 281.12, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.625, + "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": 0.000496, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.001698, + "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": 9.391, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.249, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 281.12, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.625, + "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": 0.000496, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.001698, + "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": 36.031, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.609, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 921.8, + "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": 13, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 13, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 13, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 13, + "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": 54, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 43177, + "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": 36.031, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.609, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 921.8, + "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": 13, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 13, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 13, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 13, + "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": 54, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 43177, + "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": "skipped", + "passed": false, + "duration": 16.969, + "message": "Pivot/origin check did not meet the recommended score (score=0.00, recommended >=0.70). Reported as SKIPPED, not a failure: the correct pivot location depends on the object type, so a sub-threshold result is advisory and does not fail FET001. The tilt and spin videos are kept below so the pivot can be judged visually.\nPivot is 49.4% from base (should be <10%).\nPivot not centered in XY (offset=0.721, size=3.068).\nX-axis tilt causes ground penetration (min_z=-1.483).\nZ-rotation shows orbital motion (radius=0.721).\n\nHow to fix:\n- Move the asset pivot to the bottom-center of the bounding box.\n- The pivot should be at Z=0 (ground level) and centered in XY.\n- In your DCC tool, set the pivot/origin to the base of the object.\n- Check the X-tilt and Z-spin videos for visual reference.\n\nWhen this can be ignored: this check validates ground-placeable\nprops. If your object is a rotating/hinged type (e.g., door, robot\njoint), the pivot should be at the rotation center -- not the base;\nthose are validated under FET021/FET022. Attached objects (cameras,\nwheels) should have their pivot at the attachment point.\n\nINTERIM: pivot/origin (VG.025) is treated as advisory and does not\nfail the feature, pending spec clarification on whether VG.025 is a\nmandatory or optional requirement (refer to docs/spec-clarifications-needed.md).", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.936, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 196.8, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.813, + "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": 0.0, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 49.4, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 0, + "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": 0, + "unit": null + }, + "assessment_advisory": { + "value": { + "status": "completed", + "reason_code": "pivot_score_below_recommendation", + "reason": "Completed pivot measurements are below the recommended score; origin placement depends on object type." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 16.969, + "message": "Pivot/origin check did not meet the recommended score (score=0.00, recommended >=0.70). Reported as SKIPPED, not a failure: the correct pivot location depends on the object type, so a sub-threshold result is advisory and does not fail FET001. The tilt and spin videos are kept below so the pivot can be judged visually.\nPivot is 49.4% from base (should be <10%).\nPivot not centered in XY (offset=0.721, size=3.068).\nX-axis tilt causes ground penetration (min_z=-1.483).\nZ-rotation shows orbital motion (radius=0.721).\n\nHow to fix:\n- Move the asset pivot to the bottom-center of the bounding box.\n- The pivot should be at Z=0 (ground level) and centered in XY.\n- In your DCC tool, set the pivot/origin to the base of the object.\n- Check the X-tilt and Z-spin videos for visual reference.\n\nWhen this can be ignored: this check validates ground-placeable\nprops. If your object is a rotating/hinged type (e.g., door, robot\njoint), the pivot should be at the rotation center -- not the base;\nthose are validated under FET021/FET022. Attached objects (cameras,\nwheels) should have their pivot at the attachment point.\n\nINTERIM: pivot/origin (VG.025) is treated as advisory and does not\nfail the feature, pending spec clarification on whether VG.025 is a\nmandatory or optional requirement (refer to docs/spec-clarifications-needed.md).", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.936, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 196.8, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.813, + "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": 0.0, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 49.4, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 0, + "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": 0, + "unit": null + }, + "assessment_advisory": { + "value": { + "status": "completed", + "reason_code": "pivot_score_below_recommendation", + "reason": "Completed pivot measurements are below the recommended score; origin placement depends on object type." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 3.063, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 0.359, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 179.5, + "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": 0.196615, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 3.063, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 0.359, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 179.5, + "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": 0.196615, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 35.187, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.86, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 972.0, + "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 + }, + "universal_surface_materials_with_universal": { + "value": 13, + "unit": null + }, + 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"universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 35.187, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.86, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 972.0, + "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 + }, + "universal_surface_materials_with_universal": { + "value": 13, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 13, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + 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"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": 2763.157958984375, + "damping": 0.0, + "max_force": 7000.0 + } + }, + "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": 1818.1820068359375, + "damping": 0.0, + "max_force": 8000.0 + } + }, + "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": 15.265, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 2, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 2, + "unit": null + }, + "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": 10.004174962540716, + "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": 1.141, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 163.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.204, + "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": 50000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 19, + "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": 30000.0 + } + }, + "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_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": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 12, + "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": 6000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 33, + "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": 7000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 15, + "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": 8000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 22, + "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": 60.609, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 3, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 2, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 3, + "unit": null + }, + "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": 10.001767266788727, + "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": 0.954, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 23, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 41.48, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.125, + "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": 17045.455078125, + "damping": 0.0, + "max_force": 50000.0 + } + }, + "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": 11842.10546875, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "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_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": 11842.10546875, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 69, + "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": 2368.4208984375, + "damping": 0.0, + "max_force": 6000.0 + } + }, + "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": 2763.157958984375, + "damping": 0.0, + "max_force": 7000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 92, + "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": 1818.1820068359375, + "damping": 0.0, + "max_force": 8000.0 + } + }, + "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": [] + } + ] +} diff --git a/fanuc_m900ia200p/.metadata/m900ia200p_validation.json b/fanuc_m900ia200p/.metadata/m900ia200p_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..e8e2f7f568abfa5318f3b7f94f615148c4d0294f --- /dev/null +++ b/fanuc_m900ia200p/.metadata/m900ia200p_validation.json @@ -0,0 +1,221 @@ +{ + "simready_usd/m900ia200p.usda": { + "features_summary": { + "CAP000_Core.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP023_RobotMaterials.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP025_RosBridge.Ros.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "optional requirements": "['com.nvidia.simready.ROS.001']", + "passed": false, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + } + }, + "profile_id": "Robot-Body", + "profile_version": "3.0.0", + "simready_validate_version": null, + "tier_versions": {} + } +} diff --git a/fanuc_m900ia200p/.simready/validation.json b/fanuc_m900ia200p/.simready/validation.json deleted file mode 100644 index 7a04e1db0d99a5d4b6dda15aa159799bff02e5ff..0000000000000000000000000000000000000000 --- a/fanuc_m900ia200p/.simready/validation.json +++ /dev/null @@ -1,1175 +0,0 @@ -{ - "SimReady_Metadata": { - "validation": { - "profile": "Robot-Body", - "profile_version": "3.0.0", - "validated_features": { - "2026-10-30": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP003_RigidBody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.RobotMuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP021_RobotCore.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "CAP022_DrivenJoints.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP023_RobotMaterials.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP025_RosBridge.Ros.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.ROS.001']", - "passed": false, - "version": "0-1-0" - }, - "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP033_SimReadyPackage.OpenUSD.0-4-0": { - "blocking_failure": false, - "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", - "passed": true, - "version": "0-4-0" - }, - "CAP100_IsaacComposition.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "1-0-1" - }, - "FET003_RigidBody.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET003_RigidBody.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET003_RigidBody.PhysX.0-4-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-4-0" - }, - "FET004_Multibody.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.Newton.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "FET004_Multibody.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET004_Multibody.PhysX.0-4-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", - "passed": true, - "version": "0-4-0" - }, - "FET004_Multibody.RobotNewton.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET006_Materials.MDL.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET006_Materials.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET006_Materials.Openpbr.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET010_DisplayColor.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET022_DrivenJoints.Isaac.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET022_DrivenJoints.Newton.0-1-0": { - "blocking_failure": false, - 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a/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 2160cdd589297bea433a2f903dc451dcb4c176dd..f63ef99ee17db5adc476f9fd195635ba7bbce568 100644 --- a/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ib280/.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": "2026-11-02T23:09:38", + "timestamp": "2026-11-03T21:23:19", "assets": [ { "asset": "m900ib280.usda", @@ -29,6 +29,6 @@ } ], "content_hash": { - "sha256": "7994c4a1d759bd638d78636651466e342cf8abeeafca22589b7859fdc757e3c7" + "sha256": "0c04f7ad9bc00bc4ac4dcb3dfd0c80e8dafa238620963d29da8dc72a7534203d" } } diff --git a/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json deleted file mode 100644 index 3e2a210fd1c393d64999fb1bb1541fa9248d69ee..0000000000000000000000000000000000000000 --- a/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ /dev/null @@ -1,31 +0,0 @@ -{ - "format_version": "1.0", - "profile": "Package", - "profile_version": "1.0.0", - "timestamp": "2026-11-02T23:09:39", - "assets": [ - { - "asset": "com.nvidia.simready.packaging.json", - "features": [ - { - "CAP030_PackagingCore.OpenUSD.0-1-0": { - "version": "0.0.0", - "passed": true, - "failing_requirements": [], - "dependencies": [] - } - }, - { - "CAP032_PackagingIntrospection.OpenUSD.0-1-0": { - "version": "0.0.0", - "passed": true, - "failing_requirements": [], - "dependencies": [ - "CAP030_PackagingCore.OpenUSD.0-1-0" - ] - } - } - ] - } - ] -} diff --git a/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json 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b/fanuc_m900ib280/.metadata/com.nvidia.simready.packaging.bom.json index dcee7b468a3045febd9f0e9d9176d965bb2f4c55..8b657160d5d6d09127cf7bbd8fa5d1b1906ee5c8 100644 --- a/fanuc_m900ib280/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ib280/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,15 +1,7 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m900ib280/3.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m900ib280/3.0.1", "items": [ - { - "relative_path": ".simready/validation.json", - "size": 49425, - "hash": { - "sha256-flat-1mb": "0a4f834047dcd7425b62be9a4e812bebe2acec9be4d178ab8a99801d1861305c", - "sha256": "8451dd63bc4ae22a9642193a9aee18c8c9e6e22eb33bb239f9537f7f83d8e8bd" - } - }, { "relative_path": ".thumbs/256x256/m900ib280.usda.png", "size": 44508, diff --git a/fanuc_m900ib280/.metadata/m900ib280_benchmark.json 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+ }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "culling_xz_qualified_pairs": { + "value": 8, + "unit": null + }, + "culling_xz_omitted_pairs": { + "value": 0, + "unit": null + }, + "culling_xz_omitted_indices": { + "value": [], + "unit": null + }, + "culling_xz_coverage_complete": { + "value": 1, + "unit": null + }, + "culling_xz_max_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_mean_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_worst_angle": { + "value": 0.0, + "unit": null + }, + "culling_xz_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": "culling_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 11.485, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.703, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 168.94, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.375, + "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 + }, + "culling_xz_qualified_pairs": { + "value": 8, + "unit": null + }, + "culling_xz_omitted_pairs": { + "value": 0, + "unit": null + }, + "culling_xz_omitted_indices": { + "value": [], + "unit": null + }, + "culling_xz_coverage_complete": { + "value": 1, + "unit": null + }, + "culling_xz_max_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_mean_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_worst_angle": { + "value": 0.0, + "unit": null + }, + "culling_xz_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": "display_color_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 77.422, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 45, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 9, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 9, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.171, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 453.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.391, + "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 + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 38672, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 39022, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1184, + 0.1182, + 0.1181 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 7.8e-05, + "unit": null + }, + "display_color_response_ratio": { + "value": 1.0, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.998655, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 77.422, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 45, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 9, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 9, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.171, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 453.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.391, + "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 + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 38672, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 39022, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1184, + 0.1182, + 0.1181 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 7.8e-05, + "unit": null + }, + "display_color_response_ratio": { + "value": 1.0, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.998655, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 12.234, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 6, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 2, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 2, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 6.84034692799173, + "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": 2.25, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 6, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 375.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.657, + "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 + }, + "dgv_joints_tested": { + "value": 6, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 6, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 250000.0, + "damping": 10000.0, + "max_force": 20000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235985793942574, + "start": -1.9620404145825887e-07, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 30, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_002": { + "value": { + "schema_version": 1, + "name": "dgv_joint_002", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 250000.0, + "damping": 10000.0, + "max_force": 30000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.523718325228043, + "start": 0.0001195496297441423, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 34, + "json": "motion_history/dgv_joint_002.json", + "csv": "motion_history/dgv_joint_002.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_003": { + "value": { + "schema_version": 1, + "name": "dgv_joint_003", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 250000.0, + "damping": 10000.0, + "max_force": 30000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235131461264301, + "start": -8.562947186874226e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 37, + "json": "motion_history/dgv_joint_003.json", + "csv": "motion_history/dgv_joint_003.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_004": { + "value": { + "schema_version": 1, + "name": "dgv_joint_004", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 250000.0, + "damping": 10000.0, + "max_force": 6000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5236646079680268, + "start": 6.583236972801387e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 36, + "json": "motion_history/dgv_joint_004.json", + "csv": "motion_history/dgv_joint_004.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_005": { + "value": { + "schema_version": 1, + "name": "dgv_joint_005", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 250000.0, + "damping": 10000.0, + "max_force": 6000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235973767353072, + "start": -1.3988629916639184e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 44, + "json": "motion_history/dgv_joint_005.json", + "csv": "motion_history/dgv_joint_005.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_006": { + "value": { + "schema_version": 1, + "name": "dgv_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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 250000.0, + "damping": 10000.0, + "max_force": 4000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987757317775, + "start": 1.3347870031488185e-10, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 33, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 26.891, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 6, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 2, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 2, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 6.84034692799173, + "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": 1.375, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 152.78, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.843, + "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 + }, + "dgv_joints_tested": { + "value": 6, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 6, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "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" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "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": 6818.18212890625, + "damping": 0.0, + "max_force": 20000.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235988322722746, + "start": 5.6673975734611304e-08, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 170, + "json": 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"observed_start": -1.7452744245529175, + "ramp_seconds": 1.75, + "velocity_hint_native_per_second": 2.181661367416382, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.007112261827320054 + }, + { + "joint": "J6", + "segment": "to_max", + "requested_start": 2.838252202708169e-12, + "observed_start": 2.838252202708169e-12, + "ramp_seconds": 1.5708333333333333, + "velocity_hint_native_per_second": 3.5779247283935547, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.01270928131382762 + }, + { + "joint": "J6", + "segment": "to_min", + "requested_start": 2.5132741228718345, + "observed_start": 2.5132312774658203, + "ramp_seconds": 2.8875, + "velocity_hint_native_per_second": 3.5779247283935547, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.007528599385082657 + }, + { + "joint": "J6", + "segment": "to_zero", + "requested_start": -2.5132741228718345, + "observed_start": -2.5132484436035156, + "ramp_seconds": 1.5708333333333333, + "velocity_hint_native_per_second": 3.5779247283935547, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.012709151457315215 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 4.047, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 83, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 48.76, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.906, + "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 + }, + "frs_segment_timing_omitted": { + "value": 0, + "unit": null + }, + "frs_joints_passed": { + "value": 6, + "unit": null + }, + "frs_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_frs_joint_001": { + "value": { + "schema_version": 1, + "name": "frs_joint_001", + "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": -3.2288591861724854, + "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": 1.9198620319366455, + "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": 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": 670, + "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": -1.3089967966079712, + "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": 32142.859375, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 338, + "json": "motion_history/frs_joint_002.json", + "csv": "motion_history/frs_joint_002.csv" + }, + "unit": null + }, + "motion_history_frs_joint_003": { + "value": { + "schema_version": 1, + "name": "frs_joint_003", + "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": -1.1519173383712769, + "runtime_upper": 1.1519173383712769, + "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": 1.7453291416168213, + "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": "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": 33750.00390625, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 313, + "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": 2.181661367416382, + "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": "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": 1800.0001220703125, + "damping": 0.0, + "max_force": 6000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 597, + "json": "motion_history/frs_joint_004.json", + "csv": "motion_history/frs_joint_004.csv" + }, + "unit": null + }, + "motion_history_frs_joint_005": { + "value": { + "schema_version": 1, + "name": "frs_joint_005", + "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": -2.181661367416382, + "runtime_upper": 2.181661367416382, + "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": 2.181661367416382, + "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": "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": 1800.0001220703125, + "damping": 0.0, + "max_force": 6000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 441, + "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": 3.5779247283935547, + "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": 731.7073974609375, + "damping": 0.0, + "max_force": 4000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 397, + "json": "motion_history/frs_joint_006.json", + "csv": "motion_history/frs_joint_006.csv" + }, + "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": "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": 2.469, + "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/m900ib280/simready_usd/m900ib280.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 IK evid [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": 5.594, + "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/m900ib280/simready_usd/m900ib280.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 IK evid [message abbreviated]", + "metrics": {}, + "kit_logs": [], + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + { + "test_name": "jacobian_ik", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 97.765, + "message": "", + "metrics": { + "jik_loop_joints_locked": { + "value": 0, + "unit": null + }, + "jik_independent_dof_exclusions": { + "value": [ + 3, + 5 + ], + "unit": null + }, + "jik_independent_dof_exclusions_omitted": { + "value": 0, + "unit": null + }, + "jik_joints_without_safe_range": { + "value": [], + "unit": null + }, + "jik_sampled_joint_count": { + "value": 6, + "unit": null + }, + "jik_robot_reach": { + "value": 1.8342, + "unit": null + }, + "jik_target_radius": { + "value": 1.6508, + "unit": null + }, + "jik_base_position_x": { + "value": 0.0, + "unit": null + }, + "jik_base_position_y": { + "value": 0.0, + "unit": null + }, + 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"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": 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_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": 32142.859375, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 69, + "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": 33750.00390625, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 58, + "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": 1800.0001220703125, + "damping": 0.0, + "max_force": 6000.0 + } + }, + "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": 1800.0001220703125, + "damping": 0.0, + "max_force": 6000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 79, + "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": 731.7073974609375, + "damping": 0.0, + "max_force": 4000.0 + } + }, + "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": [] + } + ] +} diff --git a/fanuc_m900ib280/.metadata/m900ib280_validation.json b/fanuc_m900ib280/.metadata/m900ib280_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..03d5451a951361f8e6bc883e78e7a5d89c5ed43c --- /dev/null +++ b/fanuc_m900ib280/.metadata/m900ib280_validation.json @@ -0,0 +1,221 @@ +{ + "simready_usd/m900ib280.usda": { + "features_summary": { + "CAP000_Core.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP023_RobotMaterials.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP025_RosBridge.Ros.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "optional requirements": "['com.nvidia.simready.ROS.001']", + "passed": false, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + 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"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": 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": 670, + "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": -1.3089967966079712, + "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": 32142.859375, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 338, + "json": "motion_history/frs_joint_002.json", + "csv": "motion_history/frs_joint_002.csv" + }, + "unit": null + }, + "motion_history_frs_joint_003": { + "value": { + "schema_version": 1, + "name": "frs_joint_003", + "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": -1.1519173383712769, + "runtime_upper": 1.1519173383712769, + "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": 1.7453291416168213, + "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": "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": 33750.00390625, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 313, + "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": -2.6179938316345215, + "runtime_upper": 2.6179938316345215, + "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": 2.181661367416382, + "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": "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": 1800.0001220703125, + "damping": 0.0, + "max_force": 6000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 513, + "json": "motion_history/frs_joint_004.json", + "csv": "motion_history/frs_joint_004.csv" + }, + "unit": null + }, + "motion_history_frs_joint_005": { + "value": { + "schema_version": 1, + "name": "frs_joint_005", + "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": -2.181661367416382, + "runtime_upper": 2.181661367416382, + "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": 2.181661367416382, + "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": "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": 1500.0001220703125, + "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": 441, + "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": -2.6179938316345215, + "runtime_upper": 2.6179938316345215, + "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": 3.5779247283935547, + "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": 548.780517578125, + "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": 342, + "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": 4.141, + "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/m900ib280l/simready_usd/m900ib280l.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 IK ev [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": 8.375, + "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/m900ib280l/simready_usd/m900ib280l.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": "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": 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_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": 32142.859375, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 73, + "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": 33750.00390625, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 66, + "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": 1800.0001220703125, + "damping": 0.0, + "max_force": 6000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 92, + "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": 1500.0001220703125, + "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": 79, + "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": 548.780517578125, + "damping": 0.0, + "max_force": 3000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 61, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + } + ] +} diff --git a/fanuc_m900ib280l/.metadata/m900ib280l_validation.json b/fanuc_m900ib280l/.metadata/m900ib280l_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..0d142c772625cee26ae2161dbf7c19bca1b47b99 --- /dev/null +++ b/fanuc_m900ib280l/.metadata/m900ib280l_validation.json @@ -0,0 +1,221 @@ +{ + "simready_usd/m900ib280l.usda": { + "features_summary": { + "CAP000_Core.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP023_RobotMaterials.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP025_RosBridge.Ros.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "optional requirements": "['com.nvidia.simready.ROS.001']", + "passed": false, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + 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} + } + ] + } + ] +} diff --git a/fanuc_m900ib330l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ib330l/.metadata/com.nvidia.simready.packaging.bom.json index 7554b8f8fe685d06ed63843a58263d5f9802ee94..25d1d87581ef275d3e993342c76b95170c58364f 100644 --- a/fanuc_m900ib330l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ib330l/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,15 +1,7 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m900ib330l/3.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m900ib330l/3.0.1", "items": [ - { - "relative_path": ".simready/validation.json", - "size": 49425, - "hash": { - "sha256-flat-1mb": "0a4f834047dcd7425b62be9a4e812bebe2acec9be4d178ab8a99801d1861305c", - "sha256": "8451dd63bc4ae22a9642193a9aee18c8c9e6e22eb33bb239f9537f7f83d8e8bd" - } - }, { "relative_path": ".thumbs/256x256/m900ib330l.usda.png", "size": 46639, diff --git a/fanuc_m900ib330l/.metadata/m900ib330l_benchmark.json b/fanuc_m900ib330l/.metadata/m900ib330l_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..3c038bfce44040e304c07120929b7ff3db0e534c --- /dev/null +++ b/fanuc_m900ib330l/.metadata/m900ib330l_benchmark.json @@ -0,0 +1,17176 @@ +{ + "schema_version": "1.0", + "asset": "m900ib330l", + "run_timestamp": "2026-10-31T20:07:08.573916+00:00", + "passed": false, + "results": [ + { + "test_name": "culling_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 75.125, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 27.454, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1715.88, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.328, + "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 + }, + "culling_xz_qualified_pairs": { + "value": 8, + "unit": null + }, + "culling_xz_omitted_pairs": { + "value": 0, + "unit": null + }, + "culling_xz_omitted_indices": { + "value": [], + "unit": null + }, + "culling_xz_coverage_complete": { + "value": 1, + "unit": null + }, + "culling_xz_max_diff": { + "value": 4.6e-05, + "unit": null + }, + "culling_xz_mean_diff": { + "value": 6e-06, + "unit": null + }, + "culling_xz_worst_angle": { + "value": 270.0, + "unit": null + }, + "culling_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "culling_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 75.125, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 27.454, + "unit": null + }, + 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"test_name": "display_color_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 39.391, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 43, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 9, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 9, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.703, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 243.29, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.515, + "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 + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 34127, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 34541, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1078, + 0.1077, + 0.1076 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 8.8e-05, + "unit": null + }, + "display_color_response_ratio": { + "value": 1.0, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.998857, + "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": "display_color_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 39.391, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 43, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 9, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 9, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_total_s": { + 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8.8e-05, + "unit": null + }, + "display_color_response_ratio": { + "value": 1.0, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.998857, + "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": "drive_gain_validation", + "engine": "isaac_sim", + "engine_version": "6.1.0", 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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": 2.719, + "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/m900ib330l/simready_usd/m900ib330l.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 IK ev [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": 14.031, + "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/m900ib330l/simready_usd/m900ib330l.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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"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": 2647.05908203125, + "damping": 0.0, + "max_force": 6000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 185, + "json": 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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": 909.0910034179688, + "damping": 0.0, + "max_force": 4000.0 + } + }, + "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": 21.516, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 2, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 2, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "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": 8.300161670297374, + "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": 1.109, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 158.43, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.875, + "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 + }, + "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": 250000.0, + "damping": 10000.0, + "max_force": 24000.0 + } + }, + "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_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": 250000.0, + "damping": 10000.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 12, + "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": 250000.0, + "damping": 10000.0, + "max_force": 30000.0 + } + }, + "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_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 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+ }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 35, + "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": 250000.0, + "damping": 10000.0, + "max_force": 6000.0 + } + }, + "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_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": 250000.0, + "damping": 10000.0, + "max_force": 4000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 22, + "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": 22.969, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 2, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 2, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "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": 8.299992146546508, + "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": 1.235, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 21, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 58.81, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.078, + "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": 9000.0009765625, + "damping": 0.0, + "max_force": 24000.0 + } + }, + "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": 39705.88671875, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 76, + "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": 39705.88671875, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 69, + "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": 2916.666748046875, + "damping": 0.0, + "max_force": 7000.0 + } + }, + "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": 2647.05908203125, + "damping": 0.0, + "max_force": 6000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 110, + "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": 909.0910034179688, + "damping": 0.0, + "max_force": 4000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 73, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + } + ] +} diff --git a/fanuc_m900ib330l/.metadata/m900ib330l_validation.json b/fanuc_m900ib330l/.metadata/m900ib330l_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..a9f362cc402dda8aca8697e58149b37e84cf76f4 --- /dev/null +++ b/fanuc_m900ib330l/.metadata/m900ib330l_validation.json @@ -0,0 +1,221 @@ +{ + "simready_usd/m900ib330l.usda": { + "features_summary": { + "CAP000_Core.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP023_RobotMaterials.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP025_RosBridge.Ros.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "optional requirements": "['com.nvidia.simready.ROS.001']", + "passed": false, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + } + }, + "profile_id": "Robot-Body", + "profile_version": "3.0.0", + "simready_validate_version": null, + "tier_versions": {} + } +} diff --git a/fanuc_m900ib330l/.simready/validation.json b/fanuc_m900ib330l/.simready/validation.json deleted file mode 100644 index bc75ce3b43ab70760368c12c56235b79306f3b91..0000000000000000000000000000000000000000 --- a/fanuc_m900ib330l/.simready/validation.json +++ /dev/null @@ -1,1173 +0,0 @@ -{ - "SimReady_Metadata": { - "validation": { - "profile": "Robot-Body", - "profile_version": "3.0.0", - "validated_features": { - "2026-10-30": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP003_RigidBody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": 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"culling_xz_omitted_pairs": { + "value": 0, + "unit": null + }, + "culling_xz_omitted_indices": { + "value": [], + "unit": null + }, + "culling_xz_coverage_complete": { + "value": 1, + "unit": null + }, + "culling_xz_max_diff": { + "value": 3.2e-05, + "unit": null + }, + "culling_xz_mean_diff": { + "value": 4e-06, + "unit": null + }, + "culling_xz_worst_angle": { + "value": 225.0, + "unit": null + }, + "culling_xz_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": "culling_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 10.203, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.825, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 176.56, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.25, + "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 + }, + "culling_xz_qualified_pairs": { + "value": 8, + "unit": null + }, + "culling_xz_omitted_pairs": { + "value": 0, + "unit": null + }, + "culling_xz_omitted_indices": { + "value": [], + "unit": null + }, + "culling_xz_coverage_complete": { + "value": 1, + "unit": null + }, + "culling_xz_max_diff": { + "value": 3.2e-05, + "unit": null + }, + "culling_xz_mean_diff": { + "value": 4e-06, + "unit": null + }, + "culling_xz_worst_angle": { + "value": 225.0, + "unit": null + }, + "culling_xz_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": "display_color_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 187.296, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 46, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 9, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 9, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_total_s": { + 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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 IK ev [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": 12.234, + "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. 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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": 833.3333129882812, + "damping": 0.0, + "max_force": 4000.0 + } + }, + "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": 21.14, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 2, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 2, + "unit": null + }, + "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": 8.291001005253024, + "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": 4.282, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 6, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 713.67, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.797, + "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": 20000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 17, + "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": 30000.0 + } + }, + "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": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 12, + "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": 6000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 30, + "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": 6000.0 + } + }, + "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_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": 4000.0 + } + }, + "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_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": 57.328, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 3, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 2, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 3, + "unit": null + }, + "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": 8.290346886268479, + "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": 2.218, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 110.9, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.047, + "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": 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_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": 10714.2861328125, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 67, + "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": 11250.0009765625, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 56, + "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": 2045.4547119140625, + "damping": 0.0, + "max_force": 6000.0 + } + }, + "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": 2045.4547119140625, + "damping": 0.0, + "max_force": 6000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 88, + "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": 833.3333129882812, + "damping": 0.0, + "max_force": 4000.0 + } + }, + "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": [] + } + ] +} diff --git a/fanuc_m900ib360e/.metadata/m900ib360e_validation.json b/fanuc_m900ib360e/.metadata/m900ib360e_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..7aac4435806b08a4fd86ef37939d602ab49c2590 --- /dev/null +++ b/fanuc_m900ib360e/.metadata/m900ib360e_validation.json @@ -0,0 +1,221 @@ +{ + "simready_usd/m900ib360e.usda": { + "features_summary": { + "CAP000_Core.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP023_RobotMaterials.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP025_RosBridge.Ros.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "optional requirements": "['com.nvidia.simready.ROS.001']", + "passed": false, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + } + }, + "profile_id": "Robot-Body", + "profile_version": "3.0.0", + "simready_validate_version": null, + "tier_versions": {} + } +} diff --git a/fanuc_m900ib360e/.simready/validation.json b/fanuc_m900ib360e/.simready/validation.json deleted file mode 100644 index 88def8d6fdec0f1a0acc69da747a8f8feb091436..0000000000000000000000000000000000000000 --- a/fanuc_m900ib360e/.simready/validation.json +++ /dev/null @@ -1,1175 +0,0 @@ -{ - "SimReady_Metadata": { - "validation": { - "profile": "Robot-Body", - "profile_version": "3.0.0", - "validated_features": { - "2026-10-30": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP003_RigidBody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.RobotMuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP021_RobotCore.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "CAP022_DrivenJoints.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP023_RobotMaterials.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP025_RosBridge.Ros.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.ROS.001']", - "passed": false, - "version": "0-1-0" - }, - "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP033_SimReadyPackage.OpenUSD.0-4-0": { - "blocking_failure": false, - "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", - "passed": true, - "version": "0-4-0" - }, - "CAP100_IsaacComposition.Isaac.0-3-0": { - 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"tolerance_basis": "existing native joint-position verdict thresholds", + "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": 7500.00048828125, + "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": 518, + "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": 2.7925264835357666, + "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": 1875.000244140625, + "damping": 0.0, + "max_force": 8000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 486, + "json": "motion_history/frs_joint_006.json", + "csv": "motion_history/frs_joint_006.csv" + }, + "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": "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": 2.234, + "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/m900ib400l/simready_usd/m900ib400l.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 IK ev [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": 7.75, + "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/m900ib400l/simready_usd/m900ib400l.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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"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": 1.827, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 60, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 30.45, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 4.313, + "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 + }, + "sta_joints_tested": { + "value": 6, + "unit": null + }, + "sta_joints_passed": { + "value": 6, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 0.1574029995572074, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "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": "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": 14062.5009765625, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 208, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + }, + "motion_history_sta_joint_002": { + "value": { + "schema_version": 1, + "name": "sta_joint_002", + "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": "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": 50000.0, + "damping": 0.0, + "max_force": 40000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 219, + "json": "motion_history/sta_joint_002.json", + "csv": "motion_history/sta_joint_002.csv" + }, + "unit": null + }, + "motion_history_sta_joint_003": { + "value": { + "schema_version": 1, + "name": "sta_joint_003", + "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": "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": 50000.0, + "damping": 0.0, + "max_force": 40000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 190, + "json": "motion_history/sta_joint_003.json", + "csv": "motion_history/sta_joint_003.csv" + }, + "unit": null + }, + "motion_history_sta_joint_004": { + "value": { + "schema_version": 1, + "name": "sta_joint_004", + "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": "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": 7500.00048828125, + "damping": 0.0, + "max_force": 20000.0 + } + }, + "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_004.json", + "csv": "motion_history/sta_joint_004.csv" + }, + "unit": null + }, + "motion_history_sta_joint_005": { + "value": { + "schema_version": 1, + "name": "sta_joint_005", + "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": "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": 7500.00048828125, + "damping": 0.0, + "max_force": 20000.0 + } + }, + "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": 1875.000244140625, + "damping": 0.0, + "max_force": 8000.0 + } + }, + "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": [ + { + "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": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 17.953, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 2, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 2, + "unit": null + }, + "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": 12.143364771420966, + "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": 2.188, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 312.57, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.735, + "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": 250000.0, + "damping": 10000.0, + "max_force": 30000.0 + } + }, + "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_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": 250000.0, + "damping": 10000.0, + "max_force": 40000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 15, + "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": 250000.0, + "damping": 10000.0, + "max_force": 40000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 14, + "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": 250000.0, + "damping": 10000.0, + "max_force": 20000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 32, + "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": 250000.0, + "damping": 10000.0, + "max_force": 20000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 15, + "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": 250000.0, + "damping": 10000.0, + "max_force": 8000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 22, + "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": 32.453, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 3, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 2, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 3, + "unit": null + }, + "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": 12.143323493367953, + "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": 0.782, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 23, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 34.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.437, + "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": 14062.5009765625, + "damping": 0.0, + "max_force": 30000.0 + } + }, + "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": 50000.0, + "damping": 0.0, + "max_force": 40000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 115, + "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": 50000.0, + "damping": 0.0, + "max_force": 40000.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 86, + "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": 7500.00048828125, + "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_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": 7500.00048828125, + "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": 93, + "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": 1875.000244140625, + "damping": 0.0, + "max_force": 8000.0 + } + }, + "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": [] + } + ] +} diff --git a/fanuc_m900ib400l/.metadata/m900ib400l_validation.json b/fanuc_m900ib400l/.metadata/m900ib400l_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..6dcb03ccd53a6973ae296d3aeef2aebefcdcd051 --- /dev/null +++ b/fanuc_m900ib400l/.metadata/m900ib400l_validation.json @@ -0,0 +1,221 @@ +{ + "simready_usd/m900ib400l.usda": { + "features_summary": { + "CAP000_Core.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP023_RobotMaterials.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + 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"profile": { - "id": "Robot-Body", - "version": "3.0.0" - } - } - } - } - } - } -} diff --git a/fanuc_m900ib400l/com.nvidia.simready.packaging.json b/fanuc_m900ib400l/com.nvidia.simready.packaging.json index 78b2b1bdcf4ed07a28a4ca6996613d1649863c3c..72effd9661b8c0a7f9e12cc091ca6baa4bb19e53 100644 --- a/fanuc_m900ib400l/com.nvidia.simready.packaging.json +++ b/fanuc_m900ib400l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib400l.3.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib400l.3.0.1", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "81674aebad7297a0859cd5e64c467726373b60896a54718df40c0b1a8fd0fb14" + "sha256": "feea058f7a1c939593e878714e0c4e3b7a82c574a55d2fa15f76a2e6205d8b08" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": 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a/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 27833d8ceb1430083bc4975d22e1491f702db46c..c0c7b8a4975aea98327efaf369682c935214e38b 100644 --- a/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ib700/.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": "2026-11-02T23:09:52", + "timestamp": "2026-11-03T21:23:38", "assets": [ { "asset": "m900ib700.usda", @@ -29,6 +29,6 @@ } ], "content_hash": { - "sha256": "f77d342d341b5c7f951f121dd5a8e9a83438bdba01b01c15ecb94528de7df08a" + "sha256": "4852ca704da9b03df1a40bffe1328fe0bb8d8b6ecdf5c91f1e7a448b69d7279f" } } diff --git a/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json new file mode 100644 index 0000000000000000000000000000000000000000..b65ab4fac46f5b39af924f5cc1c8cd03dd7df959 --- /dev/null +++ b/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -0,0 +1,31 @@ +{ + "format_version": "1.0", + "profile": "Package", + "profile_version": "1.1.0", + "timestamp": "2026-11-03T21:23:40", + "assets": [ + { + "asset": "com.nvidia.simready.packaging.json", + "features": [ + { + "CAP030_PackagingCore.OpenUSD.0-2-0": { + "version": "0.0.0", + "passed": true, + "failing_requirements": [], + "dependencies": [] + } + }, + { + "CAP032_PackagingIntrospection.OpenUSD.0-2-0": { + "version": "0.0.0", + "passed": true, + "failing_requirements": [], + "dependencies": [ + "CAP030_PackagingCore.OpenUSD.0-2-0" + ] + } + } + ] + } + ] +}