diff --git a/comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index a082513f561121d5e21e70499ef415cd2daed5ef..fe636d9dda72e4f3a4689fffb1038dcc9503642e 100644 --- a/comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:21:34", + "timestamp": "2026-11-02T23:13:11", "assets": [ { "asset": "n-220-27.usda", "features": [ { - "FET_031_STANDARD": { - "version": "0.1.0", + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_033_STANDARD": { - "version": "0.1.0", + "CAP033_SimReadyPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_031_STANDARD": { - "version": "0.1.0" - } - } + "CAP031_SelfContainedPackage.OpenUSD.0-1-0" ] } } @@ -33,6 +29,6 @@ } ], "content_hash": { - "sha256": "d25573c1311b6d3be18a2c9af1d3a15c1608761f9c47b302e385ee626c999e8d" + "sha256": "56f51d5236f9fbec2a704d7ff77186e2a0db7f4c74db457bbe1988514ee96032" } } diff --git a/comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..a92c6041758a2182db52d66238fce08a6e59b0a9 100644 --- a/comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.0.0", - "timestamp": "2026-10-26T22:35:59", + "timestamp": "2026-11-02T23:13:13", "assets": [ { "asset": "com.nvidia.simready.packaging.json", "features": [ { - "FET_030_STANDARD": { - "version": "0.1.0", + "CAP030_PackagingCore.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_032_STANDARD": { - "version": "0.1.0", + "CAP032_PackagingIntrospection.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_030_STANDARD": { - "version": "0.1.0" - } - } + "CAP030_PackagingCore.OpenUSD.0-1-0" ] } } diff --git a/comau_n_220_27/.metadata/com.nvidia.simready.packaging.bom.json b/comau_n_220_27/.metadata/com.nvidia.simready.packaging.bom.json index 055dce84d36b8e6470b95301c57ca608ebe94cfe..03f6a31d17d1ab80f6d42961c2b5b77f2c12384a 100644 --- a/comau_n_220_27/.metadata/com.nvidia.simready.packaging.bom.json +++ b/comau_n_220_27/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,13 +1,13 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_2.0/.packages/comau_n_220_27/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/comau_n_220_27/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49580, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "a972290e6db330213373ebccba0dd3609bda1a54c7bc02a617a60e30f5cf9f08", + "sha256": "ce57ddffe6c953168b6e20fa6c518fbde6f75662cc94e70c58e85c5767d5090c" } }, { @@ -18,14 +18,6 @@ "sha256": "34b6607fe36752f5ba292472ee6305f622a419379fcd6f43aff6cefac4af10eb" } }, - { - "relative_path": ".thumbs/n-220-27.thumb.usd", - "size": 6125, - "hash": { - "sha256-flat-1mb": "cc4017e163c8be8c49fe583c078fa88ad293b0e86f514228e2aeb1f64272719a", - "sha256": "8f470519532faf7d695331f7731e884d9928c53d4c041d21e50bb2119958f634" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -84,10 +76,10 @@ }, { "relative_path": "n-220-27.usda", - "size": 16324, + "size": 82056, "hash": { - "sha256-flat-1mb": "e61f288afead1c8d764fc9b9636f12b1e575340db276da1d0623a39147b5eb4c", - "sha256": "4f375f7a7036cec919f21b25e968c36221fb31b36b04643de1f173f3fc14730f" + "sha256-flat-1mb": "45d49bc4c744edfae29f4d0f86f25ba1c3011804d68aec63464c5409080fffae", + "sha256": "745f8d8c73656de42d44aaaca4792b7e428a0e69fe03c35615215e6f4078e0ea" } }, { @@ -108,10 +100,10 @@ }, { "relative_path": "payloads/Physics/physics.usda", - "size": 14090, + "size": 14021, "hash": { - "sha256-flat-1mb": "815848a49bd187c53b538f6b212425618b8a9530f3926b6d1bbdc4ef42c5330d", - "sha256": "fdac853382d97cf621bc50012837090da66f1e642e1c38c35eefe765890ad1df" + "sha256-flat-1mb": "04994f6e915b76e7bbb1fee4ed845b290eed49c2e53137f07e1802f453e921a3", + "sha256": "d0dbb5f55018f9d0ae89a1d6423b5ef628c1ea350c4fda324d55813e226db849" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 23298, + "size": 23330, "hash": { - "sha256-flat-1mb": "4b440459bbeb514f830cd01ca763dcab77dec9e24da59dde1b6a2631c3bf8292", - "sha256": "9aad7845f9d16ea44829d107287fb827bdac02b87265de6b16dadebbf19a518f" + "sha256-flat-1mb": "65821bb7d9eed97fb17cba103eb29d2ad6798b6c5c71f7df7c6253b6a298455b", + "sha256": "a0547d1c9fdd25dda713b3d78a091f3f89a293a6132ebfb49cd0d087ff3b6b20" } }, { @@ -189,19 +181,19 @@ }, { "relative_path": "runnables/physics/newton.usda", - "size": 5446, + "size": 5334, "hash": { - "sha256-flat-1mb": "4515ec833d591dad76dac3d72d115049e3f3b7c9de128b527842e8785463efdc", - "sha256": "e62673dd10b2f743025f40abc22be6868e01047eac457ddf390cf5a135baf90d" + "sha256-flat-1mb": "b79f96662639128c2b655e004bb003fe7a06c2cb6e0e7a54726f192f0d2a6849", + "sha256": "9351008a7e654e4e8923316e6a9fc5f4496a10aa20b666fb45856335f9550b03" } }, { "relative_path": "runnables/physics/physx.usda", - "size": 5059, + "size": 4828, "hash": { - "sha256-flat-1mb": "ef45939c1432257ccf3aa4a2164f933ca653ba003d1031cf47619f321ad558fb", - "sha256": "8e2de1837b2d433862c1926343480aff889835549d94891240fda497f1a098f8" + "sha256-flat-1mb": "ec27346f22bc6f0e68813ab534623b45a3ce0bf292ff701211380219dfce797d", + "sha256": "47eaad4b6929195af16341c11efe25b5c843e2a10b7dc9e6234f3994c0419210" } } ] -} +} \ No newline at end of file diff --git a/comau_n_220_27/.simready/validation.json b/comau_n_220_27/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..00b36a65739c19a7c5dbcd3bdd627f2e6c9a900d 100644 --- a/comau_n_220_27/.simready/validation.json +++ b/comau_n_220_27/.simready/validation.json @@ -4,7 +4,7 @@ "profile": "Robot-Body", "profile_version": "3.0.0", "validated_features": { - "2026-10-20": { + "2026-10-30": { "CAP000_Core.Isaac.0-1-0": { "blocking_failure": false, "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", @@ -218,6 +218,960 @@ } } } - } + }, + "runtime_testing": { + "tested_features": { + 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a/comau_n_220_27/.thumbs/n-220-27.thumb.usd and /dev/null differ diff --git a/comau_n_220_27/com.nvidia.simready.packaging.json b/comau_n_220_27/com.nvidia.simready.packaging.json index 44c5aa216f37b7e336dc0523d514a63b8b19c08a..ea7c275af5c486a933e23aba6fa56176d5ead00a 100644 --- a/comau_n_220_27/com.nvidia.simready.packaging.json +++ b/comau_n_220_27/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.comau_n_220_27.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.comau_n_220_27.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "f7309b3abdadf73e81929a081c37315e6ca6eda8f969adc6899c08bb1912d6bb" + "sha256": "37c326bd543ea9b0669a6d7d1f5b645fbdcd51ce94f73876149ec0385a84d09e" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "6f3c4ee8884bda046c3657c207f68e7573f8900cb7ee70c1179272963ccfa9bd" + "sha256": "dd0a95122a9023c2a215e4b063ade5cf498f6e6b1b552a8690692e8a0df7d61c" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "00c7ae9a812ab48d7664a775c142aacec87e2abda02cd2ab849dc4b8c48442d7" + "sha256": "56f51d5236f9fbec2a704d7ff77186e2a0db7f4c74db457bbe1988514ee96032" }, "package_hash": { - "sha256": "719aa09633f53fc8ef38fe1f2f506e006bb49ecb254ada96e6bbd0360bf0cf75" + "sha256": "796b03c87059574d471abfe3a7d47c004df56aeceb31d720c934f88d0f43d53a" } } diff --git a/comau_n_220_27/n-220-27.usda b/comau_n_220_27/n-220-27.usda index 7e85214cde9d388e15ebf059e66e772038c15293..ce18684dea9a39ced9c3ff48a811a2884279cd30 100644 --- a/comau_n_220_27/n-220-27.usda +++ b/comau_n_220_27/n-220-27.usda @@ -21,11 +21,965 @@ } } } + string[] revision_of = [ + "simready.hf.Comau.N220-27.N-220-27.2026.10.19_00", + "simready.hf.Comau.N220-27.N-220-27.2026.10.20_00" + ] + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "incomplete" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "incomplete" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "incomplete" + string version = "0.2.0" + } + } + } + } dictionary validation = { string profile = "Robot-Body" string profile_version = "3.0.0" dictionary validated_features = { - dictionary "2026-10-20" = { + dictionary "2026-10-30" = { dictionary "CAP000_Core.Isaac.0-1-0" = { bool blocking_failure = 0 string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" diff --git a/comau_n_220_27/payloads/Physics/physics.usda b/comau_n_220_27/payloads/Physics/physics.usda index a3c1962164f2c96579eaa9ae292a5131459402b3..4516d341a732de345bc1fc8b527466698a71c59e 100644 --- a/comau_n_220_27/payloads/Physics/physics.usda +++ b/comau_n_220_27/payloads/Physics/physics.usda @@ -21,8 +21,7 @@ over "n_220_27" rel physics:simulationOwner vector3f physics:velocity = (0, 0, 0) - over "collisions" ( - ) + over "collisions" { rel physics:simulationOwner @@ -49,8 +48,7 @@ over "n_220_27" rel physics:simulationOwner vector3f physics:velocity = (-0.0000043010186, -0.000009583102, 3.3239227e-11) - over "collisions" ( - ) + over "collisions" { rel physics:simulationOwner @@ -77,8 +75,7 @@ over "n_220_27" rel physics:simulationOwner vector3f physics:velocity = (0.000101418875, -0.000031212458, -0.000019901183) - over "collisions" ( - ) + over "collisions" { rel physics:simulationOwner @@ -105,8 +102,7 @@ over "n_220_27" rel physics:simulationOwner vector3f physics:velocity = (0.0004374504, -0.00003245531, -0.00009375945) - over "collisions" ( - ) + over "collisions" { rel physics:simulationOwner @@ -133,8 +129,7 @@ over "n_220_27" rel physics:simulationOwner vector3f physics:velocity = (0.0005922832, -0.00008400222, -0.00091516896) - over "collisions" ( - ) + over "collisions" { rel physics:simulationOwner @@ -161,8 +156,7 @@ over "n_220_27" rel physics:simulationOwner vector3f physics:velocity = (0.00061265635, -0.00011139275, -0.0013545378) - over "collisions" ( - ) + over "collisions" { rel physics:simulationOwner @@ -189,8 +183,7 @@ over "n_220_27" rel physics:simulationOwner vector3f physics:velocity = (0.0006000856, -0.00013745725, -0.0017695666) - over "collisions" ( - ) + over "collisions" { rel physics:simulationOwner @@ -264,7 +257,7 @@ over "n_220_27" float drive:angular:physics:damping = 1000 float drive:angular:physics:maxForce = 3.4028235e38 float drive:angular:physics:stiffness = 10000 - float drive:angular:physics:targetPosition = -89.9 + float drive:angular:physics:targetPosition = 0 uniform token drive:angular:physics:type = "force" uniform token physics:axis = "Y" custom rel physics:body0 = @@ -274,11 +267,11 @@ over "n_220_27" float physics:JointEquivalentInertia = 578.5488 point3f physics:localPos0 = (1.05, 0, 0) point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.4999982, -0.5, 0.50000185, -0.5) + quatf physics:localRot0 = (-0.7071064, 0.70710653, -0.00065074826, 0.00064826803) quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -167 - float physics:upperLimit = 73.99749 - float state:angular:physics:position = -89.89496 + float physics:lowerLimit = -77.10504 + float physics:upperLimit = 163.89246 + float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 } @@ -365,3 +358,4 @@ over "n_220_27" } } } + diff --git a/comau_n_220_27/payloads/materials.usda b/comau_n_220_27/payloads/materials.usda index 6126cbf1a4b4466340e552e4c7fd9d675aa9fdd1..3f824445d2b361dac1a051b16c65b65eddad4ada 100644 --- a/comau_n_220_27/payloads/materials.usda +++ b/comau_n_220_27/payloads/materials.usda @@ -19,7 +19,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -160,7 +160,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -181,7 +181,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -322,7 +322,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -343,7 +343,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -484,7 +484,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -505,7 +505,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -646,7 +646,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) diff --git a/comau_n_220_27/runnables/physics/newton.usda b/comau_n_220_27/runnables/physics/newton.usda index 7585e5b91b5ab0ccf8d7627b35f3199c4f566ee9..39830251e498ce445a8ed015122c2c22ac7f90f9 100644 --- a/comau_n_220_27/runnables/physics/newton.usda +++ b/comau_n_220_27/runnables/physics/newton.usda @@ -155,10 +155,8 @@ over "n_220_27" float drive:angular:physics:damping = 0 float drive:angular:physics:maxForce = 25000 float drive:angular:physics:stiffness = 8523.003 - float drive:angular:physics:targetPosition = 0 float newton:damping = 284.1001 float newton:velocityLimit = 109.99644 - float state:angular:physics:position = 0 } over "joint_4" ( diff --git a/comau_n_220_27/runnables/physics/physx.usda b/comau_n_220_27/runnables/physics/physx.usda index 1d0906505859d207eb242c8c54a77abcad0099c5..9baf185f15200bbaf340313226f578bca021551d 100644 --- a/comau_n_220_27/runnables/physics/physx.usda +++ b/comau_n_220_27/runnables/physics/physx.usda @@ -11,15 +11,13 @@ over "n_220_27" { over "base_link" { - over "collisions" ( - ) + over "collisions" { rel collection:collisionmeshes:includes = over "base_link" { - over "mesh" ( - ) + over "mesh" { uniform token physics:approximation = "convexHull" } @@ -29,15 +27,13 @@ over "n_220_27" over "link_1" { - over "collisions" ( - ) + over "collisions" { rel collection:collisionmeshes:includes = over "Link1" { - over "mesh_1" ( - ) + over "mesh_1" { uniform token physics:approximation = "convexHull" } @@ -47,15 +43,13 @@ over "n_220_27" over "link_2" { - over "collisions" ( - ) + over "collisions" { rel collection:collisionmeshes:includes = over "Link2" { - over "mesh_2" ( - ) + over "mesh_2" { uniform token physics:approximation = "convexHull" } @@ -65,15 +59,13 @@ over "n_220_27" over "link_3" { - over "collisions" ( - ) + over "collisions" { rel collection:collisionmeshes:includes = over "Link3" { - over "mesh_3" ( - ) + over "mesh_3" { uniform token physics:approximation = "convexHull" } @@ -83,15 +75,13 @@ over "n_220_27" over "link_4" { - over "collisions" ( - ) + over "collisions" { rel collection:collisionmeshes:includes = over "Link4" { - over "mesh_4" ( - ) + over "mesh_4" { uniform token physics:approximation = "convexHull" } @@ -101,15 +91,13 @@ over "n_220_27" over "link_5" { - over "collisions" ( - ) + over "collisions" { rel collection:collisionmeshes:includes = over "Link5" { - over "mesh_5" ( - ) + over "mesh_5" { uniform token physics:approximation = "convexHull" } @@ -119,15 +107,13 @@ over "n_220_27" over "link_6" { - over "collisions" ( - ) + over "collisions" { rel collection:collisionmeshes:includes = over "Link6" { - over "mesh_6" ( - ) + over "mesh_6" { uniform token physics:approximation = "convexHull" } @@ -160,7 +146,7 @@ over "n_220_27" ) { float physxJoint:maxJointVelocity = 109.99644 - float state:angular:physics:position = -89.89496 + float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 } @@ -201,3 +187,4 @@ over "n_220_27" } } } + diff --git a/universalrobots_ur5e/.thumbs/ur5e.thumb.usd b/universalrobots_ur5e/.thumbs/ur5e.thumb.usd deleted file mode 100644 index fd472ac520f448aaa949e93ce4e83b384dabe812..0000000000000000000000000000000000000000 Binary files a/universalrobots_ur5e/.thumbs/ur5e.thumb.usd and /dev/null differ diff --git a/universalrobots_ur5e/com.nvidia.simready.packaging.json b/universalrobots_ur5e/com.nvidia.simready.packaging.json index 7f78efe1606d652df478271568251c196d1e1223..be9b4ee3dc7b70e2eef336a6014ed41db642675b 100644 --- a/universalrobots_ur5e/com.nvidia.simready.packaging.json +++ b/universalrobots_ur5e/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur5e.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur5e.3.0.0", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "534d1473c2187f93657847989fa87bdc01847bcafafd5ef9e6485f2b078a3bbd" + "sha256": "cfd747805e78fcd0bb2d346ee077b189e0ffba69460b68f6726f81e7e1e907ff" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "becf67027ee70aaa013d5043600c82dc0b91c999ec5fd5c307784c486eb309e3" + "sha256": "8b087d35b15aea46c3ff4eb55d06fc7bc0ac6b349f7ff93d28a362dbc2889845" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "42301701ea02145f96ca55e615b947ce2b71691e1bcf1cd08bd83a92c267b885" + "sha256": "3c61211409449c66a93200dc6429c4156202d8e8374b544fd995566e45f2001e" }, "package_hash": { - "sha256": "ff098cc15d8c18a41fb0f918a6ee2a4a586486ff79fc087a3a83a18ba94ce57f" + "sha256": "ae4d184de33c99efd9fc6a8adbbfe5555275260f9a79f7f5cb6bf0ac1ec225ce" } } diff --git a/universalrobots_ur5e/payloads/materials.usda b/universalrobots_ur5e/payloads/materials.usda index 6668feea8fc0caf01e065ada80cf0a5584d39390..655d9ddb7e64a15f8aaed7c8e235f289d9db63c7 100644 --- a/universalrobots_ur5e/payloads/materials.usda +++ b/universalrobots_ur5e/payloads/materials.usda @@ -21,7 +21,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -162,7 +162,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -183,7 +183,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -324,7 +324,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -345,7 +345,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -486,7 +486,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -507,7 +507,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -648,7 +648,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -669,7 +669,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -810,7 +810,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) diff --git a/universalrobots_ur5e/ur5e.usda b/universalrobots_ur5e/ur5e.usda index 4703ca682d756419ada1a5cb2e5b7acfd9a33f3e..6511bea1050eb983856dcef7cd6179cf5c6341ff 100644 --- a/universalrobots_ur5e/ur5e.usda +++ b/universalrobots_ur5e/ur5e.usda @@ -21,11 +21,946 @@ } } } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + } + } + } dictionary validation = { string profile = "Robot-Body" string profile_version = "3.0.0" dictionary validated_features = { - dictionary "2026-10-20" = { + dictionary "2026-10-30" = { dictionary "CAP000_Core.Isaac.0-1-0" = { bool blocking_failure = 0 string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" diff --git a/universalrobots_ur7e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur7e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 75053e882c4e85f2b1c4be31e74f571206f14a4e..7b5f95e347d31d40f74d0e600e787ce35274f97e 100644 --- a/universalrobots_ur7e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur7e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:21:16", + "timestamp": "2026-11-02T23:13:05", "assets": [ { "asset": "ur7e.usda", "features": [ { - "FET_031_STANDARD": { - "version": "0.1.0", + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_033_STANDARD": { - "version": "0.1.0", + "CAP033_SimReadyPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_031_STANDARD": { - "version": "0.1.0" - } - } + "CAP031_SelfContainedPackage.OpenUSD.0-1-0" ] } } @@ -33,6 +29,6 @@ } ], "content_hash": { - "sha256": "2463aeacc4f780f214798b97a9569e923c71595af5edd8669788871da8930090" + "sha256": "6c11d0424540d81049fe3c5cec41000473281a538a23f869bfccb153c9596dca" } } diff --git a/universalrobots_ur7e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/universalrobots_ur7e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..450892bc035d615216ece7b31fa043ab5600a8da 100644 --- a/universalrobots_ur7e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/universalrobots_ur7e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.0.0", - "timestamp": "2026-10-26T22:35:59", + "timestamp": "2026-11-02T23:13:07", "assets": [ { "asset": "com.nvidia.simready.packaging.json", "features": [ { - "FET_030_STANDARD": { - "version": "0.1.0", + "CAP030_PackagingCore.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_032_STANDARD": { - "version": "0.1.0", + "CAP032_PackagingIntrospection.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_030_STANDARD": { - "version": "0.1.0" - } - } + "CAP030_PackagingCore.OpenUSD.0-1-0" ] } } diff --git a/universalrobots_ur7e/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur7e/.metadata/com.nvidia.simready.packaging.bom.json index 62198d0ca473206e6ab2cf48fd2c1843b20aaa6d..0be9d9dfc9e606f459acc58b7688fa2d9ae056e2 100644 --- a/universalrobots_ur7e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur7e/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,13 +1,13 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_2.0/.packages/universalrobots_ur7e/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/universalrobots_ur7e/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49437, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "60678caf466441b20cc980d25651ae4cad35d680a6cb335ac019829b84246b9b", + "sha256": "06dfaae702000e6d9fc552d2267886882dc632a5aa12cb665f7cb8291bae4e31" } }, { @@ -18,14 +18,6 @@ "sha256": "658bdfe63dcaba7755028dd396258b3762878abe978281afddc0c763ab3de15f" } }, - { - "relative_path": ".thumbs/ur7e.thumb.usd", - "size": 6121, - "hash": { - "sha256-flat-1mb": "2a4da598bf7ff49fa41099d8e08b916bb3ca7675d59feef53be0e6f203dbfa02", - "sha256": "da3e3482ccbb6c945146e4cbcf334ac0ad16648b8ab9b7a91bb94b56c66242a1" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -270,10 +262,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 28997, + "size": 29037, "hash": { - "sha256-flat-1mb": "d4426a219937807c5c134dc13a7cc4121973d45b87f2c32cb8cc2db73f0daf81", - "sha256": "80b7d508071ddb5cb55319615a8b90ba2169fadddc5c764728ae3023f1fc889e" + "sha256-flat-1mb": "d22f459ae2d23ca83700eee7168707145a023241fa87f6ab89767ac55cdbe6d5", + "sha256": "623ae32d46ae7e971737ab254a3a53b44e21c465d2b0e1179d604a87324709cd" } }, { @@ -310,11 +302,11 @@ }, { "relative_path": "ur7e.usda", - "size": 16386, + "size": 81932, "hash": { - "sha256-flat-1mb": "3f1f1d7ec98429588c79d42c53cef44fd38d743d33ce470897e6419358d0bd5a", - "sha256": "25caa0e47c7c7fc80acad269c2dfafc260e20b4e091eb3cd3fef71562fbd8e5e" + "sha256-flat-1mb": "6c94246a44e6d83c54d7b8c3f57dddf7e1a774138246385246667d7d2967710c", + "sha256": "2ce1acebc2546000a3bb64560adf0a458ff6ef26bd6c2dd62f5e92947dcea29a" } } ] -} +} \ No newline at end of file diff --git a/universalrobots_ur7e/.simready/validation.json b/universalrobots_ur7e/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/universalrobots_ur7e/.simready/validation.json +++ b/universalrobots_ur7e/.simready/validation.json @@ -4,7 +4,7 @@ "profile": "Robot-Body", "profile_version": "3.0.0", "validated_features": { - "2026-10-20": { + "2026-10-30": { "CAP000_Core.Isaac.0-1-0": { "blocking_failure": false, "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", @@ -218,6 +218,956 @@ } } } + }, + "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", + 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"/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.5.7" + }, + "ik_target_reach_newton": { + "passed": false, + "status": "incomplete", + "name": "ik_target_reach_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.9", + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + "jacobian_ik_newton": { + "passed": true, + "status": "pass", + "name": "jacobian_ik_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.4.12" + }, + "mimic_joint_newton": { + "passed": false, + "status": "skipped", + "name": "mimic_joint_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.12" + }, + "multi_joint_coordination_newton": { + "passed": true, + "status": "pass", + "name": "multi_joint_coordination_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.6" + }, + "state_accuracy_newton": { + "passed": true, + "status": "pass", + "name": "state_accuracy_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.10" + }, + "velocity_limit_newton": { + "passed": true, + "status": "pass", + "name": "velocity_limit_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.12" + } + }, + "status": "incomplete" + } + }, + "failure_categories": [ + "test_or_runtime_error" + ], + "contract_id": "FET022_DrivenJoints.Newton.0-1-0", + "display_name": "Driven Joints (Newton)", + "family": "FET022", + "runtime": "Newton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "passed": false, + "status": "incomplete", + "version": "0.2.0", + "engines": { + "isaac_sim": { + "passed": false, + "tests": { + "drive_gain_validation": { + "passed": true, + "status": "pass", + "name": "drive_gain_validation", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.9" + }, + "effort_limit": { + "passed": true, + "status": "pass", + "name": "effort_limit", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.0" + }, + "full_range_sweep": { + "passed": true, + "status": "pass", + "name": "full_range_sweep", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.5.6" + }, + "ik_target_reach": { + "passed": false, + "status": "incomplete", + "name": "ik_target_reach", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.8", + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + "jacobian_ik": { + "passed": true, + "status": "pass", + "name": "jacobian_ik", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.4.12" + }, + "mimic_joint": { + "passed": false, + "status": "skipped", + "name": "mimic_joint", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.11" + }, + "multi_joint_coordination": { + "passed": true, + "status": "pass", + "name": "multi_joint_coordination", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.6" + }, + "state_accuracy": { + "passed": true, + "status": "pass", + "name": "state_accuracy", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.9" + }, + "velocity_limit": { + "passed": true, + "status": "pass", + "name": "velocity_limit", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.11" + } + }, + "status": "incomplete" + } + }, + "failure_categories": [ + "test_or_runtime_error" + ], + "contract_id": "FET022_DrivenJoints.Isaac.0-2-0", + "display_name": "Driven Joints (Isaac)", + "family": "FET022", + "runtime": "Isaac", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "passed": true, + "status": "pass", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": true, + "tests": { + "joint_movement_newton": { + "passed": true, + "status": "pass", + "name": "joint_movement_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "2.2.5" + } + }, + "status": "pass" + } + }, + "contract_id": "FET004_Multibody.RobotNewton.0-1-0", + "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/universalrobots_ur7e/.thumbs/ur7e.thumb.usd b/universalrobots_ur7e/.thumbs/ur7e.thumb.usd deleted file mode 100644 index ec8f0f4cf86427bdceff2b9103c0473833411d2f..0000000000000000000000000000000000000000 Binary files a/universalrobots_ur7e/.thumbs/ur7e.thumb.usd and /dev/null differ diff --git a/universalrobots_ur7e/com.nvidia.simready.packaging.json b/universalrobots_ur7e/com.nvidia.simready.packaging.json index e2f01a82a860e11e358ba4764bf6e1725eec225d..69b7ee88d7ec6b69786b437fb2d15027e2c6379f 100644 --- a/universalrobots_ur7e/com.nvidia.simready.packaging.json +++ b/universalrobots_ur7e/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur7e.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur7e.3.0.0", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "d06dfdf7680ee30fcf36de4ff9e3cb25cce83443aca49864c21306db3cf84075" + "sha256": "392bca1b5c88284405a873e2d96ec4cb3792f1047e6b0a40caea861b83227d8d" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "52b064a12e7715aa06f40aab70e4390b291a42fc2e6c42c67349f36e6380009b" + "sha256": "d71e4a3de445506b2b821d950a55a2126996548dd9851c7506c3e4bbb992aaa9" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "05cd5fbd0feb244bf30b18cf0533e7e60127766e148b0532ffd8971b1d371e63" + "sha256": "6c11d0424540d81049fe3c5cec41000473281a538a23f869bfccb153c9596dca" }, "package_hash": { - "sha256": "e2b9fcc4302f3f547d0b8f02900f0637baa6c5f6c782df81de4bc67d7d487e34" + "sha256": "2c6045587b334614b593871850c1083ea83714bf2b2f89b6edd6a16d1a21cf6f" } } diff --git a/universalrobots_ur7e/payloads/materials.usda b/universalrobots_ur7e/payloads/materials.usda index 6668feea8fc0caf01e065ada80cf0a5584d39390..655d9ddb7e64a15f8aaed7c8e235f289d9db63c7 100644 --- a/universalrobots_ur7e/payloads/materials.usda +++ b/universalrobots_ur7e/payloads/materials.usda @@ -21,7 +21,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -162,7 +162,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -183,7 +183,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -324,7 +324,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -345,7 +345,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -486,7 +486,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -507,7 +507,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -648,7 +648,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -669,7 +669,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -810,7 +810,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) diff --git a/universalrobots_ur7e/ur7e.usda b/universalrobots_ur7e/ur7e.usda index 6011dfc2acac9dfe21cc2482525e216cd8ef1bf5..1254a5ee6753c965fc4255829212a9d614c29214 100644 --- a/universalrobots_ur7e/ur7e.usda +++ b/universalrobots_ur7e/ur7e.usda @@ -21,11 +21,961 @@ } } } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "incomplete" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "incomplete" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "incomplete" + string version = "0.2.0" + } + } + } + } dictionary validation = { string profile = "Robot-Body" string profile_version = "3.0.0" dictionary validated_features = { - dictionary "2026-10-20" = { + dictionary "2026-10-30" = { dictionary "CAP000_Core.Isaac.0-1-0" = { bool blocking_failure = 0 string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" diff --git a/yahboom_dofbot/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/yahboom_dofbot/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 82ad61ec7b0d3ad951e49018afe86817558fcf91..725c5b303fa635f39e71984ee2ffaa9e4b5680af 100644 --- a/yahboom_dofbot/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/yahboom_dofbot/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:21:19", + "timestamp": "2026-11-02T23:13:08", "assets": [ { "asset": "dofbot.usda", "features": [ { - "FET_031_STANDARD": { - "version": "0.1.0", + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_033_STANDARD": { - "version": "0.1.0", + "CAP033_SimReadyPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_031_STANDARD": { - "version": "0.1.0" - } - } + "CAP031_SelfContainedPackage.OpenUSD.0-1-0" ] } } @@ -33,6 +29,6 @@ } ], "content_hash": { - "sha256": "c784f76ae5d8f3c6db8796d9966daefa265b43441166eb8a93d09a0c119e582d" + "sha256": "87cf1952ab6f5ff2cfd2594308cb3da4c50d02ec0a0cf7fafa9dca5f8e0e67f8" } } diff --git a/yahboom_dofbot/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/yahboom_dofbot/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..77211c8c456b5edcb14e6311ceaed72e4aeb802f 100644 --- a/yahboom_dofbot/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/yahboom_dofbot/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.0.0", - "timestamp": "2026-10-26T22:35:59", + "timestamp": "2026-11-02T23:13:11", "assets": [ { "asset": "com.nvidia.simready.packaging.json", "features": [ { - "FET_030_STANDARD": { - "version": "0.1.0", + "CAP030_PackagingCore.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_032_STANDARD": { - "version": "0.1.0", + "CAP032_PackagingIntrospection.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_030_STANDARD": { - "version": "0.1.0" - } - } + "CAP030_PackagingCore.OpenUSD.0-1-0" ] } } diff --git a/yahboom_dofbot/.metadata/com.nvidia.simready.packaging.bom.json b/yahboom_dofbot/.metadata/com.nvidia.simready.packaging.bom.json index 8f81f26f96a279244200570762ecbdad5e933a57..5f0d88cf1fbc63a23d8a83e535d54cff022b2010 100644 --- a/yahboom_dofbot/.metadata/com.nvidia.simready.packaging.bom.json +++ b/yahboom_dofbot/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,13 +1,13 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_2.0/.packages/yahboom_dofbot/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/yahboom_dofbot/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49558, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "343b59019fd210607dfeb44126f6df7fff956d2454492cbcc22f727f48cd77f7", + "sha256": "2919f1a9dc4ab081ae01d06640baf3ed22ecd0775d5f4c4558c7a875db0a90cd" } }, { @@ -18,21 +18,13 @@ "sha256": "50420dde1aa366e15e996927af2d9132dd89f0b247c323e0b075e77b1df9b265" } }, - { - "relative_path": ".thumbs/dofbot.thumb.usd", - "size": 6123, - "hash": { - "sha256-flat-1mb": "eeaf13929607fbdd2bd53f45ca54156e139352cca01343ca2bac8ae3167923b2", - "sha256": "79aab5bb4daeb70b89b35b73c561c37f16487f934610eb20476ed7326fd40df8" - } - }, { "relative_path": "dofbot.usda", - "size": 27372222, + "size": 27437970, "hash": { - "sha256-flat-1mb": "81c2bbd9e6f8b83579e2ce3b0db7750eec9c0c9a5e1a1064c444d5e3f155e187", - "sha256": "01860eedccd495d848fa368881e60ad35ddd27af103a66494bd5ee77916e26a7", - "sha256-first1m": "49db7086f8fda3486719dca3b2146ff2a1702b421112620c9762308a1ba3255a" + "sha256-flat-1mb": "f29f3b72c39399880dc7f0ea85117360a9fa6ec3de7d0e7b8509392901cc4ca8", + "sha256": "53cdef49b4b5021698c26d40237196b7004344df8108fc1d7d0790187e0c6fe4", + "sha256-first1m": "71d83537a6bfe9b940994fee46e2b1fc7cc92858fc30a800bcc0ef2c7aaa3dd6" } }, { @@ -142,10 +134,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 155747, + "size": 156235, "hash": { - "sha256-flat-1mb": "bfd55abb0706a6d9cee47a47a44f32c31a440a9c19289461d2fc3f980c531937", - "sha256": "49ab8f88d8f33a13396b012e6f77e1709c39e9e9190a39b7d93de1dfbaec14c2" + "sha256-flat-1mb": "399dd34e96cfb90d3c6754445c1631a314042fe2928a015ef5e29ebbd98801c9", + "sha256": "819aa7d59eaea5ecd5ea08347119740b3c898ba421c3b2419e1d9ceb4061f43f" } }, { @@ -189,4 +181,4 @@ } } ] -} +} \ No newline at end of file diff --git a/yahboom_dofbot/.simready/validation.json b/yahboom_dofbot/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..c03edce890c81cae0cf48a93efe16a61900393c5 100644 --- a/yahboom_dofbot/.simready/validation.json +++ b/yahboom_dofbot/.simready/validation.json @@ -4,7 +4,7 @@ "profile": "Robot-Body", "profile_version": "3.0.0", "validated_features": { - "2026-10-20": { + "2026-10-30": { "CAP000_Core.Isaac.0-1-0": { "blocking_failure": false, "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", @@ -218,6 +218,958 @@ } } } + }, + "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": { + "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" + } + }, + "contract_id": "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1", + "display_name": "Minimal Placeable Visual", + "family": "FET001", + "runtime": "OpenUSD", + "source": true, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "passed": false, + "status": "skipped", + "version": "0.2.0", + "engines": { + "isaac_sim": { + "passed": false, + "tests": { + "ground_drop": { + "passed": false, + "status": "skipped", + "name": "ground_drop", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "4.0.1" + }, + "ground_stability": { + "passed": false, + "status": "skipped", + "name": "ground_stability", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "3.0.1" + }, + "slope_drop": { + "passed": false, + "status": "skipped", + "name": "slope_drop", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "3.3.5" + } + }, + "status": "skipped" + } + }, + "contract_id": "FET003_RigidBody.OpenUSD.0-2-0", + "display_name": "Rigid Body Physics", + "family": "FET003", + "runtime": "OpenUSD", + "source": true, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "passed": true, + "status": "pass", + "version": "0.2.0", + "engines": { + "isaac_sim": { + "passed": true, + "tests": { + "joint_movement": { + "passed": true, + "status": "pass", + "name": "joint_movement", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "2.2.4" + } + }, + "status": "pass" + } + }, + "contract_id": "FET004_Multibody.OpenUSD.0-2-0", + "display_name": "Simulate Multi-Body Physics", + "family": "FET004", + "runtime": "OpenUSD", + "source": true, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET006_Materials.OpenUSD.0-2-0": { + "passed": true, + "status": "pass", + "version": "0.2.0", + "engines": { + "isaac_sim": { + "passed": true, + "tests": { + "preview_surface_renders": { + "passed": true, + "status": "pass", + "name": "preview_surface_renders", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "0.5.0" + } + }, + "status": "pass" + }, + "isaac_sim_newton": { + "passed": true, + "tests": { + "preview_surface_renders": { + "passed": true, + "status": "pass", + "name": "preview_surface_renders", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "0.5.0" + } + }, + "status": "pass" + } + }, + "contract_id": "FET006_Materials.OpenUSD.0-2-0", + "display_name": "Materials (USDPreviewSurface)", + "family": "FET006", + "runtime": "OpenUSD", + "source": true, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET006_Materials.Openpbr.0-1-0": { + "passed": true, + "status": "pass", + "version": "0.1.0", + "engines": { + "isaac_sim": { + "passed": true, + "tests": { + "openpbr_renders": { + "passed": true, + "status": "pass", + "name": "openpbr_renders", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "0.5.0" + } + }, + "status": "pass" + }, + "isaac_sim_newton": { + "passed": true, + "tests": { + "openpbr_renders": { + "passed": true, + "status": "pass", + "name": "openpbr_renders", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "0.5.0" + } + }, + "status": "pass" + } + }, + "contract_id": "FET006_Materials.Openpbr.0-1-0", + "display_name": "Materials (OpenPBR)", + "family": "FET006", + "runtime": "Openpbr", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET006_Materials.MDL.0-2-0": { + "passed": true, + "status": "pass", + "version": "0.2.0", + "engines": { + "isaac_sim": { + "passed": true, + "tests": { + "mdl_renders": { + "passed": true, + "status": "pass", + "name": "mdl_renders", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py", + "provider": 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"/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "2.2.5" + } + }, + "status": "pass" + } + }, + "contract_id": "FET004_Multibody.RobotNewton.0-1-0", + "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/yahboom_dofbot/.thumbs/dofbot.thumb.usd b/yahboom_dofbot/.thumbs/dofbot.thumb.usd deleted file mode 100644 index 7e4e566d4bdde066378fd2c7d80f7becba96de58..0000000000000000000000000000000000000000 Binary files a/yahboom_dofbot/.thumbs/dofbot.thumb.usd and /dev/null differ diff --git a/yahboom_dofbot/com.nvidia.simready.packaging.json b/yahboom_dofbot/com.nvidia.simready.packaging.json index c656293113abf511ec01b81da4c0f7d01d753d38..1c6c4381a95e1080aa11b5af862458272919aa36 100644 --- a/yahboom_dofbot/com.nvidia.simready.packaging.json +++ b/yahboom_dofbot/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.yahboom_dofbot.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.yahboom_dofbot.3.0.0", "license": "unknown", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "1390e3d30631d98c237a63c5ea26789ce3c735e6c1e140c2999f3c9451a0fe30" + "sha256": "0b49f7040e8c01a27a63b5de57150662e2f6846ce0303029f14c8dbc1d9505b8" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "510ed39d7372f3c92e6f28b8b2e3da91f4166f911c33ae8cb006c0c6726d18b3" + "sha256": "54071bef11eba8a1a751fe03fada70a8a005cce9889ab44be68e114c9c086cfa" } }, { @@ -23,9 +23,9 @@ } ], "content_hash": { - "sha256": "40898f734dc82ad3a3f98775b153810b416c277a906143853760ba96d86c7e16" + "sha256": "87cf1952ab6f5ff2cfd2594308cb3da4c50d02ec0a0cf7fafa9dca5f8e0e67f8" }, "package_hash": { - "sha256": "c965303e1b574dd5a3dabbf58376a80aa5862452cec5e612c1d9711c05fa806f" + "sha256": "354f72c2e88111c8477faf41c2158b2e97042fe212d9f04cd820795a4b94316b" } -} +} \ No newline at end of file diff --git a/yahboom_dofbot/dofbot.usda b/yahboom_dofbot/dofbot.usda index 598b778a95508da6eb3b9f00a6b2f9b44941a0c5..a1a057d4e26a3e0aa03608bb6b648aba901d3426 100644 --- a/yahboom_dofbot/dofbot.usda +++ b/yahboom_dofbot/dofbot.usda @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:01860eedccd495d848fa368881e60ad35ddd27af103a66494bd5ee77916e26a7 -size 27372222 +oid sha256:53cdef49b4b5021698c26d40237196b7004344df8108fc1d7d0790187e0c6fe4 +size 27437970 diff --git a/yahboom_dofbot/payloads/materials.usda b/yahboom_dofbot/payloads/materials.usda index 5185991d7c4186444133b8581d463ddd87b986b0..4166b550c75e8d543009f6b9b229cb804a9486e1 100644 --- a/yahboom_dofbot/payloads/materials.usda +++ b/yahboom_dofbot/payloads/materials.usda @@ -16,8 +16,8 @@ def Scope "Materials" token outputs:displacement ( displayGroup = "Outputs" ) - token outputs:mdl:surface.connect = - token outputs:mtlx:surface.connect = + token outputs:mdl:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -33,7 +33,7 @@ def Scope "Materials" color3f inputs:diffuseColor = (0.5921569, 0.6666667, 0.68235296) } - def Shader "AgentfixMdlSurface" + def Shader "simready_mdl_surfaceshader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ @@ -42,7 +42,7 @@ def Scope "Materials" token outputs:out } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -60,8 +60,8 @@ def Scope "Materials" token outputs:displacement ( displayGroup = "Outputs" ) - token outputs:mdl:surface.connect = - token outputs:mtlx:surface.connect = + token outputs:mdl:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -79,7 +79,7 @@ def Scope "Materials" token outputs:surface } - def Shader "AgentfixMdlSurface" + def Shader "simready_mdl_surfaceshader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ @@ -88,7 +88,7 @@ def Scope "Materials" token outputs:out } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -109,7 +109,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -158,7 +158,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -179,7 +179,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -228,7 +228,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -249,7 +249,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -298,7 +298,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -319,7 +319,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -368,7 +368,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -389,7 +389,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -438,7 +438,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -459,7 +459,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -508,7 +508,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -529,7 +529,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -578,7 +578,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -599,7 +599,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -648,7 +648,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -669,7 +669,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -718,7 +718,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -739,7 +739,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -788,7 +788,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -809,7 +809,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -858,7 +858,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -879,7 +879,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -928,7 +928,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -949,7 +949,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -998,7 +998,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -1019,7 +1019,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1068,7 +1068,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -1089,7 +1089,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1138,7 +1138,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -1159,7 +1159,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1208,7 +1208,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -1229,7 +1229,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1278,7 +1278,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -1299,7 +1299,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1348,7 +1348,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -1369,7 +1369,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1418,7 +1418,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -1439,7 +1439,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1488,7 +1488,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -1509,7 +1509,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1558,7 +1558,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -1579,7 +1579,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1628,7 +1628,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -1649,7 +1649,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1698,7 +1698,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -1719,7 +1719,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1768,7 +1768,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -1789,7 +1789,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1838,7 +1838,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -1859,7 +1859,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1908,7 +1908,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -1929,7 +1929,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1978,7 +1978,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -1999,7 +1999,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2048,7 +2048,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -2069,7 +2069,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2118,7 +2118,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -2139,7 +2139,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2188,7 +2188,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -2209,7 +2209,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2258,7 +2258,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -2279,7 +2279,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2328,7 +2328,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -2349,7 +2349,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2398,7 +2398,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -2419,7 +2419,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2468,7 +2468,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -2489,7 +2489,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2538,7 +2538,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -2559,7 +2559,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2608,7 +2608,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -2629,7 +2629,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2678,7 +2678,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -2699,7 +2699,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2748,7 +2748,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -2769,7 +2769,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2818,7 +2818,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -2839,7 +2839,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2888,7 +2888,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -2909,7 +2909,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2958,7 +2958,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -2979,7 +2979,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -3028,7 +3028,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -3049,7 +3049,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -3098,7 +3098,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -3119,7 +3119,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -3168,7 +3168,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -3189,7 +3189,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -3238,7 +3238,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -3259,7 +3259,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -3308,7 +3308,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -3329,7 +3329,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -3378,7 +3378,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -3399,7 +3399,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -3448,7 +3448,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -3469,7 +3469,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -3518,7 +3518,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -3539,7 +3539,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -3588,7 +3588,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -3609,7 +3609,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -3658,7 +3658,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -3679,7 +3679,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -3728,7 +3728,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -3749,7 +3749,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -3798,7 +3798,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -3819,7 +3819,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -3918,7 +3918,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) @@ -3939,7 +3939,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -4038,7 +4038,7 @@ def Scope "Materials" float2 outputs:result } - def Shader "AgentfixOpenPBRSurface" + def Shader "simready_pbr_surfaceshader" { uniform token info:id = "ND_open_pbr_surface_surfaceshader" color3f inputs:base_color = (0.5, 0.5, 0.5) diff --git a/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 74af6897e5e63fe81b180f6beeeb1663e9512822..224a5157ca6db5835214547f349aed06ec80f256 100644 --- a/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:21:21", + "timestamp": "2026-11-02T22:56:26", "assets": [ { "asset": "NEX10.usda", "features": [ { - "FET_031_STANDARD": { - "version": "0.1.0", + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_033_STANDARD": { - "version": "0.1.0", + "CAP033_SimReadyPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_031_STANDARD": { - "version": "0.1.0" - } - } + "CAP031_SelfContainedPackage.OpenUSD.0-1-0" ] } } @@ -33,6 +29,6 @@ } ], "content_hash": { - "sha256": "9e88769bc31d7aec258c5673dd7773a14254b6a0ba246c3f1e221be029baf2ab" + "sha256": "2c793410653b3d63d531579ffe498f3bcfee431f983975cf7f7e763b6af57247" } } diff --git a/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..565e8da179eafb4538f18ace5e462e62d028061b 100644 --- a/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.0.0", - "timestamp": "2026-10-26T22:35:59", + "timestamp": "2026-11-02T22:56:28", "assets": [ { "asset": "com.nvidia.simready.packaging.json", "features": [ { - "FET_030_STANDARD": { - "version": "0.1.0", + "CAP030_PackagingCore.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_032_STANDARD": { - "version": "0.1.0", + "CAP032_PackagingIntrospection.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_030_STANDARD": { - "version": "0.1.0" - } - } + "CAP030_PackagingCore.OpenUSD.0-1-0" ] } } diff --git a/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.packaging.bom.json b/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.packaging.bom.json index 91a7697b58f720c5294528778a081e9f7c985a3a..9b620f6e3381c603ad4b83a523c58e7334fdf790 100644 --- a/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.packaging.bom.json +++ b/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,13 +1,13 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_2.0/.packages/yaskawa_motoman_next_nex10/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/yaskawa_motoman_next_nex10/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7841, + "size": 49437, "hash": { - "sha256-flat-1mb": "b6a99fe0a1258ff8a29f736b6ebeb9fbb7f1684d55ff1d80ff62073c2a8f5fcf", - "sha256": "1222a1f254a904edf396d5ba3cf731c82a5c9511af4fc8af5401bd9e52b02e77" + "sha256-flat-1mb": "60678caf466441b20cc980d25651ae4cad35d680a6cb335ac019829b84246b9b", + "sha256": "06dfaae702000e6d9fc552d2267886882dc632a5aa12cb665f7cb8291bae4e31" } }, { @@ -28,10 +28,10 @@ }, { "relative_path": "NEX10.usda", - "size": 16359, + "size": 81643, "hash": { - "sha256-flat-1mb": "54f40b6c4012275951683a951c8ad1e28a5885a592d26ee5d197d6e86f4e4985", - "sha256": "bca31bbe288d70321ac234eb09287871cbba929e98c05b052c97068244b9eb95" + "sha256-flat-1mb": "7b4d53ed4889d8b2296b5619e9ddd721a9fdf588dcc795c30b068c4444a044ff", + "sha256": "15f8c1ddd36a606b3991ed5412a8a601cf3247a2cda8c068dc0b3fa7187998bd" } }, { @@ -165,18 +165,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 28282, + "size": 28302, "hash": { - "sha256-flat-1mb": "dab220152e91033881571bb802633bc32aa54ba5dd96ee8762ba33d8e21079fe", - "sha256": "f2f4aa82bc5af014ffb6ebc5653bb9d14f9efd77bd6324e45e53affc8b002b91" + "sha256-flat-1mb": "2a861e1986eba5dbcea14432355e0fd10d6bac007c8dfe0df4e09e07a366d06d", + "sha256": "34ef7863fb75880bf61b6678178bcb706a03f27b55a9d9e237dbcf014168dcda" } }, { "relative_path": "payloads/materials.usda", - "size": 47676, + "size": 51484, "hash": { - "sha256-flat-1mb": "d85e86f493870cf4d8b840b00777f992bbf50e971efefd73ca4948d999a323bc", - "sha256": "74ad453477c2311021aebf6feab5a8404694fe97a84b2ea23848402b15b45925" + "sha256-flat-1mb": "fbdc929ff0582b2791bffd75821b9e75ee7f358293de6322df49900c4880ca59", + "sha256": "1f9fcbad535eee7eda2370a8169cac53bfd9fcffefd7db1bcacc94b278efc776" } }, { @@ -212,4 +212,4 @@ } } ] -} +} \ No newline at end of file diff --git a/yaskawa_motoman_next_nex10/.simready/validation.json b/yaskawa_motoman_next_nex10/.simready/validation.json index a33c73454356f791f9a1374d0bba5b5f8146d3ac..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/yaskawa_motoman_next_nex10/.simready/validation.json +++ b/yaskawa_motoman_next_nex10/.simready/validation.json @@ -4,7 +4,7 @@ "profile": "Robot-Body", "profile_version": "3.0.0", "validated_features": { - "2026-10-20": { + "2026-10-30": { "CAP000_Core.Isaac.0-1-0": { "blocking_failure": false, "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", @@ -171,8 +171,7 @@ "FET006_Materials.MDL.0-2-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.VM.BIND.002']", - "passed": false, + "passed": true, "version": "0-2-0" }, "FET006_Materials.OpenUSD.0-2-0": { @@ -184,15 +183,13 @@ "FET006_Materials.Openpbr.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.PBR.001', 'com.nvidia.simready.VM.PBR.003']", - "passed": false, + "passed": true, "version": "0-1-0" }, "FET010_DisplayColor.OpenUSD.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.DISP.001']", - "passed": false, + "passed": true, "version": "0-1-0" }, "FET022_DrivenJoints.Isaac.0-2-0": { @@ -221,6 +218,956 @@ } } } + }, + "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": 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"pass", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": true, + "tests": { + "joint_movement_newton": { + "passed": true, + "status": "pass", + "name": "joint_movement_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "2.2.5" + } + }, + "status": "pass" + } + }, + "contract_id": "FET004_Multibody.Newton.0-1-0", + "display_name": "Simulate Multi-Body Physics (Newton)", + "family": "FET004", + "runtime": "Newton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "passed": false, + "status": "incomplete", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": false, + "tests": { + "drive_gain_validation_newton": { + "passed": true, + "status": "pass", + "name": "drive_gain_validation_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.10" + }, + "effort_limit_newton": { + "passed": true, + "status": "pass", + "name": "effort_limit_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.10" + }, + "full_range_sweep_newton": { + "passed": true, + "status": "pass", + "name": "full_range_sweep_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.5.7" + }, + "ik_target_reach_newton": { + "passed": false, + "status": "incomplete", + "name": "ik_target_reach_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.9", + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + "jacobian_ik_newton": { + "passed": true, + "status": "pass", + "name": "jacobian_ik_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.4.12" + }, + "mimic_joint_newton": { + "passed": false, + "status": "skipped", + "name": "mimic_joint_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.12" + }, + "multi_joint_coordination_newton": { + "passed": true, + "status": "pass", + "name": "multi_joint_coordination_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.6" + }, + "state_accuracy_newton": { + "passed": true, + "status": "pass", + "name": "state_accuracy_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.10" + }, + "velocity_limit_newton": { + "passed": true, + "status": "pass", + "name": "velocity_limit_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.12" + } + }, + "status": "incomplete" + } + }, + "failure_categories": [ + "test_or_runtime_error" + ], + "contract_id": "FET022_DrivenJoints.Newton.0-1-0", + "display_name": "Driven Joints (Newton)", + "family": "FET022", + "runtime": "Newton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "passed": false, + "status": "incomplete", + "version": "0.2.0", + "engines": { + "isaac_sim": { + "passed": false, + "tests": { + "drive_gain_validation": { + "passed": true, + "status": "pass", + "name": "drive_gain_validation", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.9" + }, + "effort_limit": { + "passed": true, + "status": "pass", + "name": "effort_limit", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.0" + }, + "full_range_sweep": { + "passed": true, + "status": "pass", + "name": "full_range_sweep", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.5.6" + }, + "ik_target_reach": { + "passed": false, + "status": "incomplete", + "name": "ik_target_reach", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.8", + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + "jacobian_ik": { + "passed": true, + "status": "pass", + "name": "jacobian_ik", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.4.12" + }, + "mimic_joint": { + "passed": false, + "status": "skipped", + "name": "mimic_joint", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.11" + }, + "multi_joint_coordination": { + "passed": true, + "status": "pass", + "name": "multi_joint_coordination", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.6" + }, + "state_accuracy": { + "passed": true, + "status": "pass", + "name": "state_accuracy", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.9" + }, + "velocity_limit": { + "passed": true, + "status": "pass", + "name": "velocity_limit", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.11" + } + }, + "status": "incomplete" + } + }, + "failure_categories": [ + "test_or_runtime_error" + ], + "contract_id": "FET022_DrivenJoints.Isaac.0-2-0", + "display_name": "Driven Joints (Isaac)", + "family": "FET022", + "runtime": "Isaac", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "passed": true, + "status": "pass", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": true, + "tests": { + "joint_movement_newton": { + "passed": true, + "status": "pass", + "name": "joint_movement_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "2.2.5" + } + }, + "status": "pass" + } + }, + "contract_id": "FET004_Multibody.RobotNewton.0-1-0", + "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/yaskawa_motoman_next_nex10/NEX10.usda b/yaskawa_motoman_next_nex10/NEX10.usda index ecdb4e4b9438e797a3dfda3453bf3464decfb2f4..cb4a2078b66948743dece0ca72caf9e9415906c2 100644 --- a/yaskawa_motoman_next_nex10/NEX10.usda +++ b/yaskawa_motoman_next_nex10/NEX10.usda @@ -21,11 +21,961 @@ } } } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "incomplete" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "incomplete" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "incomplete" + string version = "0.2.0" + } + } + } + } dictionary validation = { string profile = "Robot-Body" string profile_version = "3.0.0" dictionary validated_features = { - dictionary "2026-10-20" = { + dictionary "2026-10-30" = { dictionary "CAP000_Core.Isaac.0-1-0" = { bool blocking_failure = 0 string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" @@ -192,8 +1142,7 @@ dictionary "FET006_Materials.MDL.0-2-0" = { bool blocking_failure = 0 string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.VM.BIND.002']" - bool passed = 0 + bool passed = 1 string version = "0-2-0" } dictionary "FET006_Materials.OpenUSD.0-2-0" = { @@ -205,15 +1154,13 @@ dictionary "FET006_Materials.Openpbr.0-1-0" = { bool blocking_failure = 0 string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.PBR.001', 'com.nvidia.simready.VM.PBR.003']" - bool passed = 0 + bool passed = 1 string version = "0-1-0" } dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { bool blocking_failure = 0 string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.DISP.001']" - bool passed = 0 + bool passed = 1 string version = "0-1-0" } dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { @@ -276,6 +1223,10 @@ def Xform "NEX10_C00" ( variantSets = ["Sensor", "PhysX", "Newton", "MuJoCo"] ) { + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + over "base_link" { over "collisions" diff --git a/yaskawa_motoman_next_nex10/com.nvidia.simready.packaging.json b/yaskawa_motoman_next_nex10/com.nvidia.simready.packaging.json index 2aa2fa39436be1fc49e944df53028abbc645f43b..6153a63b6c64930a6dfd3287a73b304c0cd11c5c 100644 --- a/yaskawa_motoman_next_nex10/com.nvidia.simready.packaging.json +++ b/yaskawa_motoman_next_nex10/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex10.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex10.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "550edbf9c2f1c23b2b59bf8a1549fcc33afab3d56e4f78fd15b710b18ff4ecce" + "sha256": "340c25704cfced7ebe38cdd8ebd2bf76d6e9f0e2dedbcc0a073c3c68d53b95a0" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "14ff93bf77d640ad783fb7010c931300844b256039214679f2c2064cdaac0439" + "sha256": "28895bb2ba7b47ac67af3279d4789a731f6deb5f356c2d144640594079b01fa3" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "86eb6f6667c87ecf3d4b62d4ea7b235cfceb43c74afcfe8d5974ed69d9817055" + "sha256": "2c793410653b3d63d531579ffe498f3bcfee431f983975cf7f7e763b6af57247" }, "package_hash": { - "sha256": "e4dc473313c24e216ef72fb9ffa943fe1fdee91d9a9652e657bedc78e26d1e3b" + "sha256": "3b4d09e45572035ae37989de77a2798194122fe019d73936afae56458c1bd4e0" } } diff --git a/yaskawa_motoman_next_nex10/payloads/instances.usda b/yaskawa_motoman_next_nex10/payloads/instances.usda index 6bc2bdd4caefdaf28192490936fc98f593af2bff..eaa02c70d37a2ce945bab4f7815fa08a99c65e71 100644 --- a/yaskawa_motoman_next_nex10/payloads/instances.usda +++ b/yaskawa_motoman_next_nex10/payloads/instances.usda @@ -85,7 +85,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -110,7 +110,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -135,7 +135,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -160,7 +160,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -185,7 +185,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -249,7 +249,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -274,7 +274,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -327,7 +327,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -399,7 +399,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -424,7 +424,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -449,7 +449,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -545,7 +545,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -570,7 +570,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -595,7 +595,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -620,7 +620,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -708,7 +708,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -733,7 +733,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -758,7 +758,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -783,7 +783,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -836,7 +836,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } diff --git a/yaskawa_motoman_next_nex10/payloads/materials.usda b/yaskawa_motoman_next_nex10/payloads/materials.usda index d3e428a1521c8e7fa8546a538eff95ab5d546a31..0c364edc5746218c18f61508468db762e30132b1 100644 --- a/yaskawa_motoman_next_nex10/payloads/materials.usda +++ b/yaskawa_motoman_next_nex10/payloads/materials.usda @@ -19,6 +19,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -155,9 +156,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f3" @@ -171,6 +181,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -307,9 +318,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f5" @@ -323,6 +343,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -459,9 +480,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f4" @@ -475,6 +505,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -611,9 +642,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f6" @@ -627,6 +667,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -763,9 +804,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f2" @@ -779,6 +829,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -915,9 +966,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f1_020" @@ -931,6 +991,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1067,9 +1128,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f3_017" @@ -1083,6 +1153,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1219,9 +1290,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f4_0" @@ -1235,6 +1315,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1371,9 +1452,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } } diff --git a/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index b05a96d311ae057455d2d3b2e5c02975bf9b3534..adf80410110a66033e163ed05e807284318bfd08 100644 --- a/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:21:23", + "timestamp": "2026-11-02T22:56:29", "assets": [ { "asset": "NEX20.usda", "features": [ { - "FET_031_STANDARD": { - "version": "0.1.0", + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_033_STANDARD": { - "version": "0.1.0", + "CAP033_SimReadyPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_031_STANDARD": { - "version": "0.1.0" - } - } + "CAP031_SelfContainedPackage.OpenUSD.0-1-0" ] } } @@ -33,6 +29,6 @@ } ], "content_hash": { - "sha256": "b9f5fb283fb78fe96af24fd7e5e7d47c14b933c81ad2eaad239a553ff863d16d" + "sha256": "3fe35e20cfacde8fed672bb1e7784df595899b6276f4dfdb30d36fef13f77f28" } } diff --git a/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..5f678d40bca5896cb1a639f468b61594538ba0a1 100644 --- a/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.0.0", - "timestamp": "2026-10-26T22:35:59", + "timestamp": "2026-11-02T22:56:30", "assets": [ { "asset": "com.nvidia.simready.packaging.json", "features": [ { - "FET_030_STANDARD": { - "version": "0.1.0", + "CAP030_PackagingCore.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_032_STANDARD": { - "version": "0.1.0", + "CAP032_PackagingIntrospection.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_030_STANDARD": { - "version": "0.1.0" - } - } + "CAP030_PackagingCore.OpenUSD.0-1-0" ] } } diff --git a/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.packaging.bom.json b/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.packaging.bom.json index 6735e58ee164c7870f4906ad77be3c7d729147f2..936f43a411355d9d4ee12e5f782e64ff63c96f81 100644 --- a/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.packaging.bom.json +++ b/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,13 +1,13 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_2.0/.packages/yaskawa_motoman_next_nex20/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/yaskawa_motoman_next_nex20/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7841, + "size": 49437, "hash": { - "sha256-flat-1mb": "b6a99fe0a1258ff8a29f736b6ebeb9fbb7f1684d55ff1d80ff62073c2a8f5fcf", - "sha256": "1222a1f254a904edf396d5ba3cf731c82a5c9511af4fc8af5401bd9e52b02e77" + "sha256-flat-1mb": "60678caf466441b20cc980d25651ae4cad35d680a6cb335ac019829b84246b9b", + "sha256": "06dfaae702000e6d9fc552d2267886882dc632a5aa12cb665f7cb8291bae4e31" } }, { @@ -28,10 +28,10 @@ }, { "relative_path": "NEX20.usda", - "size": 16360, + "size": 81644, "hash": { - "sha256-flat-1mb": "aec35c61a5ac58c6a4ddd6ac85d8334433b7d94a16fbe79ca046a2fe7785537d", - "sha256": "e812597ee72e444be683026afe3902da1db45d0c1fce41ad1b788022f41372e9" + "sha256-flat-1mb": "b528bd79b0fc5edcfc3c9296a157db0d39748f447ea1801c39a47332be51cf09", + "sha256": "8b56dc63d335d16ca5aadd1098dd7c97c8e5ffc2a828dbf26b85017257a2d9fd" } }, { @@ -165,18 +165,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 19461, + "size": 19474, "hash": { - "sha256-flat-1mb": "ee41cae4beb603a285c04d699c6bfbaaac5c9432b8ccb718ce918d71e3fef607", - "sha256": "a2cfd01cfaab655c4236535fa04474e39b326c4795af65895642d77038f89e67" + "sha256-flat-1mb": "dd512a5b4adba47d763948d24f2c3547acb9c6ade7d74ac06324b7895074d9eb", + "sha256": "32cb14d015c15d57db9f20954ee6edc45c4ae48f9daeff92a080b4b1840facff" } }, { "relative_path": "payloads/materials.usda", - "size": 32156, + "size": 34730, "hash": { - "sha256-flat-1mb": "e3829d41b2858d73db1a2f836d29db7e2cf4784b79fffeb460f58cbd9bed4b2a", - "sha256": "fab41c1a4ac93c256f78425ab81b7734747ca15f9b68deebd59ddc13f6707720" + "sha256-flat-1mb": "7e9cbcece88062499e2f952b5c99b2843e85a88666272e454608a9e3e6c47c0e", + "sha256": "dc83f2773ce07a7b531bab18a44b8c7828988e133990b2046a9a9d1956d4a834" } }, { @@ -212,4 +212,4 @@ } } ] -} +} \ No newline at end of file diff --git a/yaskawa_motoman_next_nex20/.simready/validation.json b/yaskawa_motoman_next_nex20/.simready/validation.json index a33c73454356f791f9a1374d0bba5b5f8146d3ac..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/yaskawa_motoman_next_nex20/.simready/validation.json +++ b/yaskawa_motoman_next_nex20/.simready/validation.json @@ -4,7 +4,7 @@ "profile": "Robot-Body", "profile_version": "3.0.0", "validated_features": { - "2026-10-20": { + "2026-10-30": { "CAP000_Core.Isaac.0-1-0": { "blocking_failure": false, "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", @@ -171,8 +171,7 @@ "FET006_Materials.MDL.0-2-0": 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"test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "3.0.1" + }, + "slope_drop_newton": { + "passed": false, + "status": "skipped", + "name": "slope_drop_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "3.3.5" + } + }, + "status": "skipped" + } + }, + "contract_id": "FET003_RigidBody.Newton.0-1-0", + "display_name": "Rigid Body Physics (Newton)", + "family": "FET003", + "runtime": "Newton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET004_Multibody.Newton.0-1-0": { + "passed": true, + "status": "pass", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": true, + "tests": { + "joint_movement_newton": { + "passed": true, + "status": "pass", + "name": "joint_movement_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "2.2.5" + } + }, + "status": "pass" + } + }, + "contract_id": "FET004_Multibody.Newton.0-1-0", + "display_name": "Simulate Multi-Body Physics (Newton)", + "family": "FET004", + "runtime": "Newton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "passed": false, + "status": "incomplete", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": false, + "tests": { + "drive_gain_validation_newton": { + "passed": true, + "status": "pass", + "name": "drive_gain_validation_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.10" + }, + "effort_limit_newton": { + "passed": true, + "status": "pass", + "name": "effort_limit_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.10" + }, + "full_range_sweep_newton": { + "passed": true, + "status": "pass", + "name": "full_range_sweep_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.5.7" + }, + "ik_target_reach_newton": { + "passed": false, + "status": "incomplete", + "name": "ik_target_reach_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.9", + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + "jacobian_ik_newton": { + "passed": true, + "status": "pass", + "name": "jacobian_ik_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.4.12" + }, + "mimic_joint_newton": { + "passed": false, + "status": "skipped", + "name": "mimic_joint_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.12" + }, + "multi_joint_coordination_newton": { + "passed": true, + "status": "pass", + "name": "multi_joint_coordination_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.6" + }, + "state_accuracy_newton": { + "passed": true, + "status": "pass", + "name": "state_accuracy_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.10" + }, + "velocity_limit_newton": { + "passed": true, + "status": "pass", + "name": "velocity_limit_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.12" + } + }, + "status": "incomplete" + } + }, + "failure_categories": [ + "test_or_runtime_error" + ], + "contract_id": "FET022_DrivenJoints.Newton.0-1-0", + "display_name": "Driven Joints (Newton)", + "family": "FET022", + "runtime": "Newton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "passed": false, + "status": "incomplete", + "version": "0.2.0", + "engines": { + "isaac_sim": { + "passed": false, + "tests": { + "drive_gain_validation": { + "passed": true, + "status": "pass", + "name": "drive_gain_validation", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.9" + }, + "effort_limit": { + "passed": true, + "status": "pass", + "name": "effort_limit", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.0" + }, + "full_range_sweep": { + "passed": true, + "status": "pass", + "name": "full_range_sweep", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.5.6" + }, + "ik_target_reach": { + "passed": false, + "status": "incomplete", + "name": "ik_target_reach", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.8", + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + "jacobian_ik": { + "passed": true, + "status": "pass", + "name": "jacobian_ik", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.4.12" + }, + "mimic_joint": { + "passed": false, + "status": "skipped", + "name": "mimic_joint", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.11" + }, + "multi_joint_coordination": { + "passed": true, + "status": "pass", + "name": "multi_joint_coordination", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.6" + }, + "state_accuracy": { + "passed": true, + "status": "pass", + "name": "state_accuracy", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.9" + }, + "velocity_limit": { + "passed": true, + "status": "pass", + "name": "velocity_limit", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.11" + } + }, + "status": "incomplete" + } + }, + "failure_categories": [ + "test_or_runtime_error" + ], + "contract_id": "FET022_DrivenJoints.Isaac.0-2-0", + "display_name": "Driven Joints (Isaac)", + "family": "FET022", + "runtime": "Isaac", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "passed": true, + "status": "pass", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": true, + "tests": { + "joint_movement_newton": { + "passed": true, + "status": "pass", + "name": "joint_movement_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "2.2.5" + } + }, + "status": "pass" + } + }, + "contract_id": "FET004_Multibody.RobotNewton.0-1-0", + "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/yaskawa_motoman_next_nex20/NEX20.usda b/yaskawa_motoman_next_nex20/NEX20.usda index 4244dafc7a86e0acde2cd7fa13b0a3398db5458f..34dd6d1abe253ffad820e1e0dd07610f4ae54d44 100644 --- a/yaskawa_motoman_next_nex20/NEX20.usda +++ b/yaskawa_motoman_next_nex20/NEX20.usda @@ -21,11 +21,961 @@ } } } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "incomplete" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "incomplete" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "incomplete" + string version = "0.2.0" + } + } + } + } dictionary validation = { string profile = "Robot-Body" string profile_version = "3.0.0" dictionary validated_features = { - dictionary "2026-10-20" = { + dictionary "2026-10-30" = { dictionary "CAP000_Core.Isaac.0-1-0" = { bool blocking_failure = 0 string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" @@ -192,8 +1142,7 @@ dictionary "FET006_Materials.MDL.0-2-0" = { bool blocking_failure = 0 string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.VM.BIND.002']" - bool passed = 0 + bool passed = 1 string version = "0-2-0" } dictionary "FET006_Materials.OpenUSD.0-2-0" = { @@ -205,15 +1154,13 @@ dictionary "FET006_Materials.Openpbr.0-1-0" = { bool blocking_failure = 0 string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.PBR.001', 'com.nvidia.simready.VM.PBR.003']" - bool passed = 0 + bool passed = 1 string version = "0-1-0" } dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { bool blocking_failure = 0 string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.DISP.001']" - bool passed = 0 + bool passed = 1 string version = "0-1-0" } dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { @@ -276,6 +1223,10 @@ def Xform "NEX20_C00" ( variantSets = ["Sensor", "PhysX", "Newton", "MuJoCo"] ) { + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + over "base_link" { over "collisions" diff --git a/yaskawa_motoman_next_nex20/com.nvidia.simready.packaging.json b/yaskawa_motoman_next_nex20/com.nvidia.simready.packaging.json index 0509c55b116aad447352e59ea7002234df35289c..4358f0f0cfc6d2b1d571ec7bdce8d83ef665e916 100644 --- a/yaskawa_motoman_next_nex20/com.nvidia.simready.packaging.json +++ b/yaskawa_motoman_next_nex20/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex20.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex20.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "9dc8b1a85a620df604b4b8233814b169236bb15ab052caaed048710299843fff" + "sha256": "629a84bbcedc377000da441782ea7c46cb08898a351d3aa32fa299bb1a743712" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "41452ac02a7904f617691c51e55f1d578e086332d35e96d369dbb9610fc85367" + "sha256": "e11e5619bf6c3de3568fd77a69e732c050204a9e9437d100903ff5e17a720e39" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "b716c59fa339b0986da219d5f04358bf1432aee666b66d97e9a2fe22c7d02dc4" + "sha256": "3fe35e20cfacde8fed672bb1e7784df595899b6276f4dfdb30d36fef13f77f28" }, "package_hash": { - "sha256": "2a28303906a21d6fdae807dbcb333c6a8ea798586c79bc904e0167d513ad48d5" + "sha256": "7218e88b0eca737573f8e26308ef575c1684564e4a2127dfb3e6f50e284839df" } } diff --git a/yaskawa_motoman_next_nex20/payloads/instances.usda b/yaskawa_motoman_next_nex20/payloads/instances.usda index 763313051955d8d346a7698c73cbd070bd47fab0..8a5de3cc62de70dd66e1c24cbb9cc555676ce8b3 100644 --- a/yaskawa_motoman_next_nex20/payloads/instances.usda +++ b/yaskawa_motoman_next_nex20/payloads/instances.usda @@ -61,7 +61,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -86,7 +86,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -111,7 +111,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -175,7 +175,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -200,7 +200,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -253,7 +253,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -317,7 +317,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -342,7 +342,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -406,7 +406,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -431,7 +431,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -495,7 +495,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -520,7 +520,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -573,7 +573,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } diff --git a/yaskawa_motoman_next_nex20/payloads/materials.usda b/yaskawa_motoman_next_nex20/payloads/materials.usda index 87b7dba0d67f1bda869ed5cde1e0716e865b0cd5..dc348920844c050418291b07a673c65fee3b5458 100644 --- a/yaskawa_motoman_next_nex20/payloads/materials.usda +++ b/yaskawa_motoman_next_nex20/payloads/materials.usda @@ -19,6 +19,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -155,9 +156,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "black" @@ -171,6 +181,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -307,9 +318,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "yaskawa_blue" @@ -323,6 +343,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -459,9 +480,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "yellow" @@ -475,6 +505,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -611,9 +642,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "gray_dark" @@ -627,6 +667,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -763,9 +804,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "black_mild" @@ -779,6 +829,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -915,9 +966,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } } diff --git a/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index d41262f3ef6329f7447a9af0651145035656f3a4..14ad07f712f7d6d0aa372b836b7949cc0fc79c3f 100644 --- a/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:21:25", + "timestamp": "2026-11-02T22:56:31", "assets": [ { "asset": "NEX35.usda", "features": [ { - "FET_031_STANDARD": { - "version": "0.1.0", + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_033_STANDARD": { - "version": "0.1.0", + "CAP033_SimReadyPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_031_STANDARD": { - "version": "0.1.0" - } - } + "CAP031_SelfContainedPackage.OpenUSD.0-1-0" ] } } @@ -33,6 +29,6 @@ } ], "content_hash": { - "sha256": "65b2a20c88f5d7ab4b5514a896895308966f61f3e841d88ed19903110b4cc117" + "sha256": "b19faf29e5e52d6ccc5e35b9d3a74a06c9ac7c248799eaeb75a5ddf7e1be8386" } } diff --git a/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..80a6b339e39de38bd4f2c5f7d9ecbb3bc548acf4 100644 --- a/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.0.0", - "timestamp": "2026-10-26T22:35:59", + "timestamp": "2026-11-02T22:56:33", "assets": [ { "asset": "com.nvidia.simready.packaging.json", "features": [ { - "FET_030_STANDARD": { - "version": "0.1.0", + "CAP030_PackagingCore.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_032_STANDARD": { - "version": "0.1.0", + "CAP032_PackagingIntrospection.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_030_STANDARD": { - "version": "0.1.0" - } - } + "CAP030_PackagingCore.OpenUSD.0-1-0" ] } } diff --git a/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.packaging.bom.json b/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.packaging.bom.json index 568ec26d31138cdbe4f13596a460b6a0fd25f31e..1d6c0672451a18fa21aa11b5354ff3f705009253 100644 --- a/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.packaging.bom.json +++ b/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,13 +1,13 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_2.0/.packages/yaskawa_motoman_next_nex35/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/yaskawa_motoman_next_nex35/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7767, + "size": 49437, "hash": { - "sha256-flat-1mb": "f5bfcfe9a41edc7c43bc896d680ffd0a393696b1f81162c8d17794d0bbf90f35", - "sha256": "1b0f97d6102121f0b4209f55ce2b60af52d0ae4f0c76c77133d3802062d9dbd2" + "sha256-flat-1mb": "60678caf466441b20cc980d25651ae4cad35d680a6cb335ac019829b84246b9b", + "sha256": "06dfaae702000e6d9fc552d2267886882dc632a5aa12cb665f7cb8291bae4e31" } }, { @@ -28,10 +28,10 @@ }, { "relative_path": "NEX35.usda", - "size": 16263, + "size": 81643, "hash": { - "sha256-flat-1mb": "a7d608b6b299406abda9a1bcf9f5ebb1faabe83c128ebaf50518ea94bfc76249", - "sha256": "6d87ce1ca2805d58cbb775cd19ca49226b2f1dfde5dbeb60aadfbb84dbf79661" + "sha256-flat-1mb": "b2f19806fdb6477b94ffc9da6f87cd68b1a9a5a43d98409af7c1e9f110fdd52c", + "sha256": "16aa828217eef00c357b58d051432f71ac1eb665a8642a0cfc32db56651b2950" } }, { @@ -165,18 +165,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 28018, + "size": 28038, "hash": { - "sha256-flat-1mb": "e234287c212a88a37713298651a93b6f23de1d471047a0081b6849fd589eea3b", - "sha256": "4ee98cf47dab8eee7f5c5430de15243afab887cf963380b87c5cde6d386de764" + "sha256-flat-1mb": "89061a65c23c37ca116f2e76355701a06a011c8e03498a2f7436f45360e04431", + "sha256": "84b1150c8821655b88a5dbf9eae702f8c80b4933daf325a10ea9682ca701eb31" } }, { "relative_path": "payloads/materials.usda", - "size": 63675, + "size": 68765, "hash": { - "sha256-flat-1mb": "4be8b73125d890d1f6b987fed8ef79463f15e71410e0d352225acc8ff6e86e24", - "sha256": "eec710b00ba0c1e66a28496524bc786b610f80c0053db68fbbb6739aebe2384f" + "sha256-flat-1mb": "e6fc702210b83047ac54b7f802f90e9ed4c6be3f84f7a68157f2f7fbcff10294", + "sha256": "cc818ae0974ba783177491f8a712b264cb12aeea790f0cbc1b12f877074b5e64" } }, { @@ -212,4 +212,4 @@ } } ] -} +} \ No newline at end of file diff --git a/yaskawa_motoman_next_nex35/.simready/validation.json b/yaskawa_motoman_next_nex35/.simready/validation.json index 22ddc766c14fb050a865eeb7ee2c5b8afc840419..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/yaskawa_motoman_next_nex35/.simready/validation.json +++ b/yaskawa_motoman_next_nex35/.simready/validation.json @@ -4,7 +4,7 @@ "profile": "Robot-Body", "profile_version": "3.0.0", "validated_features": { - "2026-10-20": { + "2026-10-30": { "CAP000_Core.Isaac.0-1-0": { "blocking_failure": false, "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", @@ -171,8 +171,7 @@ "FET006_Materials.MDL.0-2-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.VM.BIND.002']", - "passed": false, + "passed": true, "version": "0-2-0" }, "FET006_Materials.OpenUSD.0-2-0": { @@ -184,8 +183,7 @@ "FET006_Materials.Openpbr.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.PBR.001', 'com.nvidia.simready.VM.PBR.003']", - "passed": false, + "passed": true, "version": "0-1-0" }, "FET010_DisplayColor.OpenUSD.0-1-0": { @@ -220,6 +218,956 @@ } } } + }, + "runtime_testing": 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"mimic_joint_newton": { + "passed": false, + "status": "skipped", + "name": "mimic_joint_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.12" + }, + "multi_joint_coordination_newton": { + "passed": true, + "status": "pass", + "name": "multi_joint_coordination_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.6" + }, + "state_accuracy_newton": { + "passed": true, + "status": "pass", + "name": "state_accuracy_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.10" + }, + "velocity_limit_newton": { + "passed": true, + "status": "pass", + "name": "velocity_limit_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.12" + } + }, + "status": "incomplete" + } + }, + "failure_categories": [ + "test_or_runtime_error" + ], + "contract_id": "FET022_DrivenJoints.Newton.0-1-0", + "display_name": "Driven Joints (Newton)", + "family": "FET022", + "runtime": "Newton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "passed": false, + "status": "incomplete", + "version": "0.2.0", + "engines": { + "isaac_sim": { + "passed": false, + "tests": { + "drive_gain_validation": { + "passed": true, + "status": "pass", + "name": "drive_gain_validation", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.9" + }, + "effort_limit": { + "passed": true, + "status": "pass", + "name": "effort_limit", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.0" + }, + "full_range_sweep": { + "passed": true, + "status": "pass", + "name": "full_range_sweep", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.5.6" + }, + "ik_target_reach": { + "passed": false, + "status": "incomplete", + "name": "ik_target_reach", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.8", + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + "jacobian_ik": { + "passed": true, + "status": "pass", + "name": "jacobian_ik", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.4.12" + }, + "mimic_joint": { + "passed": false, + "status": "skipped", + "name": "mimic_joint", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.11" + }, + "multi_joint_coordination": { + "passed": true, + "status": "pass", + "name": "multi_joint_coordination", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.6" + }, + "state_accuracy": { + "passed": true, + "status": "pass", + "name": "state_accuracy", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.9" + }, + "velocity_limit": { + "passed": true, + "status": "pass", + "name": "velocity_limit", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.11" + } + }, + "status": "incomplete" + } + }, + "failure_categories": [ + "test_or_runtime_error" + ], + "contract_id": "FET022_DrivenJoints.Isaac.0-2-0", + "display_name": "Driven Joints (Isaac)", + "family": "FET022", + "runtime": "Isaac", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "passed": true, + "status": "pass", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": true, + "tests": { + "joint_movement_newton": { + "passed": true, + "status": "pass", + "name": "joint_movement_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "2.2.5" + } + }, + "status": "pass" + } + }, + "contract_id": "FET004_Multibody.RobotNewton.0-1-0", + "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/yaskawa_motoman_next_nex35/NEX35.usda b/yaskawa_motoman_next_nex35/NEX35.usda index e370d05079c41a633b21b81bbbd59431a5312c37..a28615c7c953f2553ffa884eb1674ddc4215a9fe 100644 --- a/yaskawa_motoman_next_nex35/NEX35.usda +++ b/yaskawa_motoman_next_nex35/NEX35.usda @@ -21,11 +21,961 @@ } } } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "incomplete" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "incomplete" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "incomplete" + string version = "0.2.0" + } + } + } + } dictionary validation = { string profile = "Robot-Body" string profile_version = "3.0.0" dictionary validated_features = { - dictionary "2026-10-20" = { + dictionary "2026-10-30" = { dictionary "CAP000_Core.Isaac.0-1-0" = { bool blocking_failure = 0 string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" @@ -192,8 +1142,7 @@ dictionary "FET006_Materials.MDL.0-2-0" = { bool blocking_failure = 0 string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.VM.BIND.002']" - bool passed = 0 + bool passed = 1 string version = "0-2-0" } dictionary "FET006_Materials.OpenUSD.0-2-0" = { @@ -205,8 +1154,7 @@ dictionary "FET006_Materials.Openpbr.0-1-0" = { bool blocking_failure = 0 string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.PBR.001', 'com.nvidia.simready.VM.PBR.003']" - bool passed = 0 + bool passed = 1 string version = "0-1-0" } dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { @@ -275,6 +1223,10 @@ def Xform "NEX35_C00" ( variantSets = ["Sensor", "PhysX", "Newton", "MuJoCo"] ) { + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + over "base_link" { over "collisions" diff --git a/yaskawa_motoman_next_nex35/com.nvidia.simready.packaging.json b/yaskawa_motoman_next_nex35/com.nvidia.simready.packaging.json index ab20199b8bd26470c3247efd36795feac0994a12..9b6231825ca3a39c058153d21c0c5775cfaf1144 100644 --- a/yaskawa_motoman_next_nex35/com.nvidia.simready.packaging.json +++ b/yaskawa_motoman_next_nex35/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex35.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex35.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "a67cf0d86066e96107f6eb9ee81c78d1dcd68e8a8c3831e8c2c1b38ecf60db2e" + "sha256": "8b5fee8088d1814c8b6c6c30d51e3e7a9923aa954fb8afd22dc8bee8d911dbe3" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "623eb6d35514dfa661805a0175c8274e2c9e2a388fc02fc7111f4a775b7c5a45" + "sha256": "e37e879191607857b7dee807e2fa3c71253965d9650551e578ae5e5446f33745" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "80f96a89d400709ddf8758fec071072bbda45bcc1443a9cc94128b2d6dce8291" + "sha256": "b19faf29e5e52d6ccc5e35b9d3a74a06c9ac7c248799eaeb75a5ddf7e1be8386" }, "package_hash": { - "sha256": "b5a4761a0d9bb6b677e86f61fc3254e735beeb71219e1d3515d8546ccfa89be1" + "sha256": "cfebb11b04d16a09c3b9b81532bf465afe4ef4a93cbd6d3b06863b6988c15c2c" } } diff --git a/yaskawa_motoman_next_nex35/payloads/instances.usda b/yaskawa_motoman_next_nex35/payloads/instances.usda index be78b26490d2d184510dbaf93dee546792f84def..728021ce4ea64208be79da9fdfc9c09ece1f9ab8 100644 --- a/yaskawa_motoman_next_nex35/payloads/instances.usda +++ b/yaskawa_motoman_next_nex35/payloads/instances.usda @@ -85,7 +85,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -110,7 +110,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -135,7 +135,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -160,7 +160,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -185,7 +185,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -210,7 +210,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -274,7 +274,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -299,7 +299,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -352,7 +352,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -416,7 +416,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -441,7 +441,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -529,7 +529,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -554,7 +554,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -579,7 +579,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -604,7 +604,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -676,7 +676,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -701,7 +701,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -726,7 +726,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -798,7 +798,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -823,7 +823,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } diff --git a/yaskawa_motoman_next_nex35/payloads/materials.usda b/yaskawa_motoman_next_nex35/payloads/materials.usda index 11dd2ac04e65229f480c2e978fc1bdd46148e127..e3dab28f1976113bf2fd40e2f90d20b62d6dd284 100644 --- a/yaskawa_motoman_next_nex35/payloads/materials.usda +++ b/yaskawa_motoman_next_nex35/payloads/materials.usda @@ -19,6 +19,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -155,9 +156,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f2" @@ -171,6 +181,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -307,9 +318,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f3" @@ -323,6 +343,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -459,9 +480,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f4" @@ -475,6 +505,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -611,9 +642,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f5" @@ -627,6 +667,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -763,9 +804,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f6" @@ -779,6 +829,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -915,9 +966,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f2_0" @@ -931,6 +991,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1067,9 +1128,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f3_0" @@ -1083,6 +1153,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1219,9 +1290,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f2_1" @@ -1235,6 +1315,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1371,9 +1452,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f1_002" @@ -1387,6 +1477,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1523,9 +1614,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "yaskawa_blue_002" @@ -1539,6 +1639,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1675,9 +1776,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f2_2" @@ -1691,6 +1801,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1827,9 +1938,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } } diff --git a/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 0d58625877683cf1c3de121496c907f186ee97b8..f90ffbf34523e235d7d1bbd27a5e473782b56746 100644 --- a/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:21:27", + "timestamp": "2026-11-02T22:56:34", "assets": [ { "asset": "NEX4.usda", "features": [ { - "FET_031_STANDARD": { - "version": "0.1.0", + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_033_STANDARD": { - "version": "0.1.0", + "CAP033_SimReadyPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_031_STANDARD": { - "version": "0.1.0" - } - } + "CAP031_SelfContainedPackage.OpenUSD.0-1-0" ] } } @@ -33,6 +29,6 @@ } ], "content_hash": { - "sha256": "788db0c0fb9fa24083f093f721d213e71fecc7c43902c12f50de4f577a2f16c3" + "sha256": "af9f942458696a0c9522f0c8038897b9cf83e9a622b79b07ae77e5d29f5b6d0f" } } diff --git a/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..e12fa59816f591aefc0dc22d958737fd78c74ae5 100644 --- a/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.0.0", - "timestamp": "2026-10-26T22:35:59", + "timestamp": "2026-11-02T22:56:36", "assets": [ { "asset": "com.nvidia.simready.packaging.json", "features": [ { - "FET_030_STANDARD": { - "version": "0.1.0", + "CAP030_PackagingCore.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_032_STANDARD": { - "version": "0.1.0", + "CAP032_PackagingIntrospection.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_030_STANDARD": { - "version": "0.1.0" - } - } + "CAP030_PackagingCore.OpenUSD.0-1-0" ] } } diff --git a/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.packaging.bom.json b/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.packaging.bom.json index e4e6a9be070f5e8a91bcea6bcc63c019e7ab48c6..cb6689e4c5868bf9dee670634a5d958106be6b08 100644 --- a/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.packaging.bom.json +++ b/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,13 +1,13 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_2.0/.packages/yaskawa_motoman_next_nex4/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/yaskawa_motoman_next_nex4/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7767, + "size": 49437, "hash": { - "sha256-flat-1mb": "f5bfcfe9a41edc7c43bc896d680ffd0a393696b1f81162c8d17794d0bbf90f35", - "sha256": "1b0f97d6102121f0b4209f55ce2b60af52d0ae4f0c76c77133d3802062d9dbd2" + "sha256-flat-1mb": "60678caf466441b20cc980d25651ae4cad35d680a6cb335ac019829b84246b9b", + "sha256": "06dfaae702000e6d9fc552d2267886882dc632a5aa12cb665f7cb8291bae4e31" } }, { @@ -28,10 +28,10 @@ }, { "relative_path": "NEX4.usda", - "size": 16259, + "size": 81639, "hash": { - "sha256-flat-1mb": "91b2a04635f7081c49309d35cba4d7c223d402c9a34d08c9f232c5fa588c62e5", - "sha256": "7f928e236785d4c9ebd10211867467d2fca8d09270e1791586235ad5158fcdb1" + "sha256-flat-1mb": "7fc01227aeb3a2e04ccd326dde1405daf3ebfc0e0cbec99fa4bf48747ea60708", + "sha256": "6543ebb1458c0870adc80a328717a75c825d19747f2145da70bb53a2b3e668ac" } }, { @@ -165,18 +165,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 37631, + "size": 37659, "hash": { - "sha256-flat-1mb": "def164b17d75ef265dcd56675f3cc96123c42dfe28b4cb8cb531762064b6b235", - "sha256": "28a805f3548587db564493f91b658193ff5dfd799327d27ba47733fbe832aa62" + "sha256-flat-1mb": "12ac6c37f89110c85620fb123485afd67190ccc7b6d058b105d6abe111f62f7e", + "sha256": "03063ee9988faa0a97e29af1222245c09ebe521a7e1f865bcb8d2aeecd1a1b68" } }, { "relative_path": "payloads/materials.usda", - "size": 58562, + "size": 63246, "hash": { - "sha256-flat-1mb": "5e5a66ac194f45acdc6872981448769d6cb12250526a4e7ada4332abe8901a08", - "sha256": "a31dad3f68ffcee06595558534fe8ca62d987a21c428077a1cbe737346a7025a" + "sha256-flat-1mb": "8fe2668844afad4d778941574e7159c0d2749fb33589a1f75a86743a04802534", + "sha256": "6fd34290ff934e7000d56a52a2c7b35addeb4f0aa998ac9fdc4782985ccfad63" } }, { @@ -212,4 +212,4 @@ } } ] -} +} \ No newline at end of file diff --git a/yaskawa_motoman_next_nex4/.simready/validation.json b/yaskawa_motoman_next_nex4/.simready/validation.json index 22ddc766c14fb050a865eeb7ee2c5b8afc840419..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/yaskawa_motoman_next_nex4/.simready/validation.json +++ b/yaskawa_motoman_next_nex4/.simready/validation.json @@ -4,7 +4,7 @@ "profile": "Robot-Body", "profile_version": "3.0.0", "validated_features": { - "2026-10-20": { + "2026-10-30": { "CAP000_Core.Isaac.0-1-0": { "blocking_failure": false, "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", @@ -171,8 +171,7 @@ "FET006_Materials.MDL.0-2-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.VM.BIND.002']", - "passed": false, + "passed": true, "version": "0-2-0" }, "FET006_Materials.OpenUSD.0-2-0": { @@ -184,8 +183,7 @@ "FET006_Materials.Openpbr.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.PBR.001', 'com.nvidia.simready.VM.PBR.003']", - "passed": false, + "passed": true, "version": "0-1-0" }, "FET010_DisplayColor.OpenUSD.0-1-0": { @@ -220,6 +218,956 @@ } } } + }, + "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": 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"pass", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": true, + "tests": { + "joint_movement_newton": { + "passed": true, + "status": "pass", + "name": "joint_movement_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "2.2.5" + } + }, + "status": "pass" + } + }, + "contract_id": "FET004_Multibody.Newton.0-1-0", + "display_name": "Simulate Multi-Body Physics (Newton)", + "family": "FET004", + "runtime": "Newton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "passed": false, + "status": "incomplete", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": false, + "tests": { + "drive_gain_validation_newton": { + "passed": true, + "status": "pass", + "name": "drive_gain_validation_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.10" + }, + "effort_limit_newton": { + "passed": true, + "status": "pass", + "name": "effort_limit_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.10" + }, + "full_range_sweep_newton": { + "passed": true, + "status": "pass", + "name": "full_range_sweep_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.5.7" + }, + "ik_target_reach_newton": { + "passed": false, + "status": "incomplete", + "name": "ik_target_reach_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.9", + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + "jacobian_ik_newton": { + "passed": true, + "status": "pass", + "name": "jacobian_ik_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.4.12" + }, + "mimic_joint_newton": { + "passed": false, + "status": "skipped", + "name": "mimic_joint_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.12" + }, + "multi_joint_coordination_newton": { + "passed": true, + "status": "pass", + "name": "multi_joint_coordination_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.6" + }, + "state_accuracy_newton": { + "passed": true, + "status": "pass", + "name": "state_accuracy_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.10" + }, + "velocity_limit_newton": { + "passed": true, + "status": "pass", + "name": "velocity_limit_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.12" + } + }, + "status": "incomplete" + } + }, + "failure_categories": [ + "test_or_runtime_error" + ], + "contract_id": "FET022_DrivenJoints.Newton.0-1-0", + "display_name": "Driven Joints (Newton)", + "family": "FET022", + "runtime": "Newton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "passed": false, + "status": "incomplete", + "version": "0.2.0", + "engines": { + "isaac_sim": { + "passed": false, + "tests": { + "drive_gain_validation": { + "passed": true, + "status": "pass", + "name": "drive_gain_validation", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.9" + }, + "effort_limit": { + "passed": true, + "status": "pass", + "name": "effort_limit", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.0" + }, + "full_range_sweep": { + "passed": true, + "status": "pass", + "name": "full_range_sweep", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.5.6" + }, + "ik_target_reach": { + "passed": false, + "status": "incomplete", + "name": "ik_target_reach", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.8", + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + "jacobian_ik": { + "passed": true, + "status": "pass", + "name": "jacobian_ik", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.4.12" + }, + "mimic_joint": { + "passed": false, + "status": "skipped", + "name": "mimic_joint", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.11" + }, + "multi_joint_coordination": { + "passed": true, + "status": "pass", + "name": "multi_joint_coordination", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.6" + }, + "state_accuracy": { + "passed": true, + "status": "pass", + "name": "state_accuracy", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.9" + }, + "velocity_limit": { + "passed": true, + "status": "pass", + "name": "velocity_limit", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.11" + } + }, + "status": "incomplete" + } + }, + "failure_categories": [ + "test_or_runtime_error" + ], + "contract_id": "FET022_DrivenJoints.Isaac.0-2-0", + "display_name": "Driven Joints (Isaac)", + "family": "FET022", + "runtime": "Isaac", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "passed": true, + "status": "pass", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": true, + "tests": { + "joint_movement_newton": { + "passed": true, + "status": "pass", + "name": "joint_movement_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "2.2.5" + } + }, + "status": "pass" + } + }, + "contract_id": "FET004_Multibody.RobotNewton.0-1-0", + "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/yaskawa_motoman_next_nex4/NEX4.usda b/yaskawa_motoman_next_nex4/NEX4.usda index 8cfee867b948d0c7dac4e47d0d9d244847b3ccff..853e7a596002195b706060c024da4155d0fa5584 100644 --- a/yaskawa_motoman_next_nex4/NEX4.usda +++ b/yaskawa_motoman_next_nex4/NEX4.usda @@ -21,11 +21,961 @@ } } } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "incomplete" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "incomplete" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "incomplete" + string version = "0.2.0" + } + } + } + } dictionary validation = { string profile = "Robot-Body" string profile_version = "3.0.0" dictionary validated_features = { - dictionary "2026-10-20" = { + dictionary "2026-10-30" = { dictionary "CAP000_Core.Isaac.0-1-0" = { bool blocking_failure = 0 string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" @@ -192,8 +1142,7 @@ dictionary "FET006_Materials.MDL.0-2-0" = { bool blocking_failure = 0 string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.VM.BIND.002']" - bool passed = 0 + bool passed = 1 string version = "0-2-0" } dictionary "FET006_Materials.OpenUSD.0-2-0" = { @@ -205,8 +1154,7 @@ dictionary "FET006_Materials.Openpbr.0-1-0" = { bool blocking_failure = 0 string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.PBR.001', 'com.nvidia.simready.VM.PBR.003']" - bool passed = 0 + bool passed = 1 string version = "0-1-0" } dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { @@ -275,6 +1223,10 @@ def Xform "NEX4_C00" ( variantSets = ["Sensor", "PhysX", "Newton", "MuJoCo"] ) { + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + over "base_link" { over "collisions" diff --git a/yaskawa_motoman_next_nex4/com.nvidia.simready.packaging.json b/yaskawa_motoman_next_nex4/com.nvidia.simready.packaging.json index 230d94e3168d91c059d5da5f61e6747a6b4dc75f..2c88675437d0961b575555da2be847ec4fd8c93a 100644 --- a/yaskawa_motoman_next_nex4/com.nvidia.simready.packaging.json +++ b/yaskawa_motoman_next_nex4/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex4.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex4.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "ea10e8b2ef6156dd6b73383ad92a946f1db7f34e1ec1085024ce023d950a4f89" + "sha256": "f64387ab2466f01cec1671b1b4c7b33382b5bc20d27f8807ba66cc3b14859115" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "e909e8551cb76806327ce7c6192bd8b1606a787be82a08568249dfd85f07f6f8" + "sha256": "f827c666dafa32bcbed753e7fcdd233b1132ec5bfaee24dc2b6c8d27c02c319e" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "8f5abe9809647bd98dc56297ba45ecac0e948e54c321f4b5326468a0279e1ecb" + "sha256": "af9f942458696a0c9522f0c8038897b9cf83e9a622b79b07ae77e5d29f5b6d0f" }, "package_hash": { - "sha256": "ea3f534395e4f64c572365521e2fccef1ac324a3e7f7d14f8cd8e0ca1ebde1fd" + "sha256": "17e49cd48e199b47e571dc4b25df80360adc2841fa6f4012f5bbbe883c74a0de" } } diff --git a/yaskawa_motoman_next_nex4/payloads/instances.usda b/yaskawa_motoman_next_nex4/payloads/instances.usda index 796231ff4ac3bc4e5c196cbdebd0ca2b37aa42f3..e7f3751e523e9cba3110331d8c85537297c32f23 100644 --- a/yaskawa_motoman_next_nex4/payloads/instances.usda +++ b/yaskawa_motoman_next_nex4/payloads/instances.usda @@ -101,7 +101,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -126,7 +126,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -151,7 +151,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -176,7 +176,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -201,7 +201,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -226,7 +226,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -251,7 +251,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -276,7 +276,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -329,7 +329,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -382,7 +382,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -470,7 +470,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -495,7 +495,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -520,7 +520,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -545,7 +545,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -570,7 +570,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -682,7 +682,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -707,7 +707,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -732,7 +732,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -757,7 +757,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -782,7 +782,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -807,7 +807,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -832,7 +832,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -920,7 +920,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -945,7 +945,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -970,7 +970,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -995,7 +995,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1020,7 +1020,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1073,7 +1073,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } diff --git a/yaskawa_motoman_next_nex4/payloads/materials.usda b/yaskawa_motoman_next_nex4/payloads/materials.usda index f42e2c8d2209d99064094c1fd87f45a2390149e0..653df8911c0976a830b8dd55a60c5b30f2626e78 100644 --- a/yaskawa_motoman_next_nex4/payloads/materials.usda +++ b/yaskawa_motoman_next_nex4/payloads/materials.usda @@ -19,6 +19,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -155,9 +156,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "yaskawa_blue" @@ -171,6 +181,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -307,9 +318,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f5_001" @@ -323,6 +343,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -459,9 +480,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f6_001" @@ -475,6 +505,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -611,9 +642,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f1_001" @@ -627,6 +667,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -763,9 +804,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f3_001" @@ -779,6 +829,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -915,9 +966,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f7" @@ -931,6 +991,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1067,9 +1128,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f8" @@ -1083,6 +1153,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1219,9 +1290,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f2_013" @@ -1235,6 +1315,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1371,9 +1452,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f2_023" @@ -1387,6 +1477,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1523,9 +1614,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f5_011" @@ -1539,6 +1639,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1675,9 +1776,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } } diff --git a/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 1bcb98c1447a0a6939bd891e25978667a6a22c22..5e7cb698dc83df0689e8cf13f29897d1aad3da02 100644 --- a/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:21:30", + "timestamp": "2026-11-02T22:56:37", "assets": [ { "asset": "NEX7.usda", "features": [ { - "FET_031_STANDARD": { - "version": "0.1.0", + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_033_STANDARD": { - "version": "0.1.0", + "CAP033_SimReadyPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_031_STANDARD": { - "version": "0.1.0" - } - } + "CAP031_SelfContainedPackage.OpenUSD.0-1-0" ] } } @@ -33,6 +29,6 @@ } ], "content_hash": { - "sha256": "cb04fd7110ed76a40d7bb5c529ceb3387984adb69e2c37fb7ece8a69197da01b" + "sha256": "6ff48a470ecd03d4128c601363fdd14f8725396b78b44eeffa8b7981418c3c27" } } diff --git a/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..03a5a8733a907082451259cfd66bc0388b00b5e9 100644 --- a/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.0.0", - "timestamp": "2026-10-26T22:35:59", + "timestamp": "2026-11-02T22:56:39", "assets": [ { "asset": "com.nvidia.simready.packaging.json", "features": [ { - "FET_030_STANDARD": { - "version": "0.1.0", + "CAP030_PackagingCore.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_032_STANDARD": { - "version": "0.1.0", + "CAP032_PackagingIntrospection.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_030_STANDARD": { - "version": "0.1.0" - } - } + "CAP030_PackagingCore.OpenUSD.0-1-0" ] } } diff --git a/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.packaging.bom.json b/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.packaging.bom.json index 50aaa4d882310d727d1cb66f18fe67aac92a2db5..102e36d805ccc9037a15e04884334e71ba9daef0 100644 --- a/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.packaging.bom.json +++ b/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,13 +1,13 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_2.0/.packages/yaskawa_motoman_next_nex7/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/yaskawa_motoman_next_nex7/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7767, + "size": 49437, "hash": { - "sha256-flat-1mb": "f5bfcfe9a41edc7c43bc896d680ffd0a393696b1f81162c8d17794d0bbf90f35", - "sha256": "1b0f97d6102121f0b4209f55ce2b60af52d0ae4f0c76c77133d3802062d9dbd2" + "sha256-flat-1mb": "60678caf466441b20cc980d25651ae4cad35d680a6cb335ac019829b84246b9b", + "sha256": "06dfaae702000e6d9fc552d2267886882dc632a5aa12cb665f7cb8291bae4e31" } }, { @@ -28,10 +28,10 @@ }, { "relative_path": "NEX7.usda", - "size": 16258, + "size": 81638, "hash": { - "sha256-flat-1mb": "382ed80f151f8da217270d80d67b99a2ae537cf31f661992c6e96c95b63ed332", - "sha256": "c953fea311ecfd507f399399b99ab03a34849d05beb2450726350d55f172f6cc" + "sha256-flat-1mb": "f3a663eea2de9db5575f11094d3f9ab08099aa6d37320a052b0e58eb8c008177", + "sha256": "d0de431f703cf4b4ec995c1d4b48590c241f37f2b0f607eca4b310262b7b539e" } }, { @@ -165,18 +165,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 31438, + "size": 31461, "hash": { - "sha256-flat-1mb": "b08d9187211b0fb642956f9b478f17a1b5661170909f218d79df15993d78832b", - "sha256": "ce32286fd4e0ef2f3bcc2a41a56bf63adc757224de3c5f8e521ccec5ef22a3dd" + "sha256-flat-1mb": "6eede05cb5619de9c9a27d9e90141e5acba34a6a01c6220a6b7689b2561aebb1", + "sha256": "8ccbec45a087ee4ce3d1f252a0122f3f671117eba264ea56228f94c3596cb97d" } }, { "relative_path": "payloads/materials.usda", - "size": 53138, + "size": 57384, "hash": { - "sha256-flat-1mb": "6a5f7571ca565d9a9be5609d9b7daf3f0b4c8df1d6e66fa20e0f75d80d76bb5c", - "sha256": "9542a7e254e7abc05d3cac6ede378cbcf85fbfa6e84f76cedf7147a3e5553db1" + "sha256-flat-1mb": "2ea920b18cef1377afcc97d009e454362eb1f4b8e1d81e5c26c48c90d61d8aa3", + "sha256": "bbea5488f5f3f4a2192d97b9378a6701089489d14881f9201c0ac62ad32e31d9" } }, { @@ -212,4 +212,4 @@ } } ] -} +} \ No newline at end of file diff --git a/yaskawa_motoman_next_nex7/.simready/validation.json b/yaskawa_motoman_next_nex7/.simready/validation.json index 22ddc766c14fb050a865eeb7ee2c5b8afc840419..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/yaskawa_motoman_next_nex7/.simready/validation.json +++ b/yaskawa_motoman_next_nex7/.simready/validation.json @@ -4,7 +4,7 @@ "profile": "Robot-Body", "profile_version": "3.0.0", "validated_features": { - "2026-10-20": { + "2026-10-30": { "CAP000_Core.Isaac.0-1-0": { "blocking_failure": false, "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", @@ -171,8 +171,7 @@ "FET006_Materials.MDL.0-2-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.VM.BIND.002']", - "passed": false, + "passed": true, "version": "0-2-0" }, "FET006_Materials.OpenUSD.0-2-0": { @@ -184,8 +183,7 @@ 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"test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.9" + }, + "velocity_limit": { + "passed": true, + "status": "pass", + "name": "velocity_limit", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.11" + } + }, + "status": "incomplete" + } + }, + "failure_categories": [ + "test_or_runtime_error" + ], + "contract_id": "FET022_DrivenJoints.PhysX.0-2-0", + "display_name": "Driven Joints (PhysX)", + "family": "FET022", + "runtime": "PhysX", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET003_RigidBody.Newton.0-1-0": { + "passed": false, + "status": "skipped", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": false, + "tests": { + "ground_drop_newton": { + "passed": false, + "status": "skipped", + "name": "ground_drop_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "4.0.1" + }, + "ground_stability_newton": { + "passed": false, + "status": "skipped", + "name": "ground_stability_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "3.0.1" + }, + "slope_drop_newton": { + "passed": false, + "status": "skipped", + "name": "slope_drop_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "3.3.5" + } + }, + "status": "skipped" + } + }, + "contract_id": "FET003_RigidBody.Newton.0-1-0", + "display_name": "Rigid Body Physics (Newton)", + "family": "FET003", + "runtime": "Newton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET004_Multibody.Newton.0-1-0": { + "passed": true, + "status": "pass", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": true, + "tests": { + "joint_movement_newton": { + "passed": true, + "status": "pass", + "name": "joint_movement_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "2.2.5" + } + }, + "status": "pass" + } + }, + "contract_id": "FET004_Multibody.Newton.0-1-0", + "display_name": "Simulate Multi-Body Physics (Newton)", + "family": "FET004", + "runtime": "Newton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "passed": false, + "status": "incomplete", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": false, + "tests": { + "drive_gain_validation_newton": { + "passed": true, + "status": "pass", + "name": "drive_gain_validation_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.10" + }, + "effort_limit_newton": { + "passed": true, + "status": "pass", + "name": "effort_limit_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.10" + }, + "full_range_sweep_newton": { + "passed": true, + "status": "pass", + "name": "full_range_sweep_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.5.7" + }, + "ik_target_reach_newton": { + "passed": false, + "status": "incomplete", + "name": "ik_target_reach_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.9", + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + "jacobian_ik_newton": { + "passed": true, + "status": "pass", + "name": "jacobian_ik_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.4.12" + }, + "mimic_joint_newton": { + "passed": false, + "status": "skipped", + "name": "mimic_joint_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.12" + }, + "multi_joint_coordination_newton": { + "passed": true, + "status": "pass", + "name": "multi_joint_coordination_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.6" + }, + "state_accuracy_newton": { + "passed": true, + "status": "pass", + "name": "state_accuracy_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.10" + }, + "velocity_limit_newton": { + "passed": true, + "status": "pass", + "name": "velocity_limit_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.12" + } + }, + "status": "incomplete" + } + }, + "failure_categories": [ + "test_or_runtime_error" + ], + "contract_id": "FET022_DrivenJoints.Newton.0-1-0", + "display_name": "Driven Joints (Newton)", + "family": "FET022", + "runtime": "Newton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "passed": false, + "status": "incomplete", + "version": "0.2.0", + "engines": { + "isaac_sim": { + "passed": false, + "tests": { + "drive_gain_validation": { + "passed": true, + "status": "pass", + "name": "drive_gain_validation", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.9" + }, + "effort_limit": { + "passed": true, + "status": "pass", + "name": "effort_limit", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.0" + }, + "full_range_sweep": { + "passed": true, + "status": "pass", + "name": "full_range_sweep", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.5.6" + }, + "ik_target_reach": { + "passed": false, + "status": "incomplete", + "name": "ik_target_reach", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.8", + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + "jacobian_ik": { + "passed": true, + "status": "pass", + "name": "jacobian_ik", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.4.12" + }, + "mimic_joint": { + "passed": false, + "status": "skipped", + "name": "mimic_joint", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.11" + }, + "multi_joint_coordination": { + "passed": true, + "status": "pass", + "name": "multi_joint_coordination", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.6" + }, + "state_accuracy": { + "passed": true, + "status": "pass", + "name": "state_accuracy", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.9" + }, + "velocity_limit": { + "passed": true, + "status": "pass", + "name": "velocity_limit", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.11" + } + }, + "status": "incomplete" + } + }, + "failure_categories": [ + "test_or_runtime_error" + ], + "contract_id": "FET022_DrivenJoints.Isaac.0-2-0", + "display_name": "Driven Joints (Isaac)", + "family": "FET022", + "runtime": "Isaac", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "passed": true, + "status": "pass", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": true, + "tests": { + "joint_movement_newton": { + "passed": true, + "status": "pass", + "name": "joint_movement_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "2.2.5" + } + }, + "status": "pass" + } + }, + "contract_id": "FET004_Multibody.RobotNewton.0-1-0", + "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/yaskawa_motoman_next_nex7/NEX7.usda b/yaskawa_motoman_next_nex7/NEX7.usda index 1b0779f0d0e1f91f1acdd072601bb07ca48e18c5..6a104464b771ea5ce6019450920ec1b4f96cad4d 100644 --- a/yaskawa_motoman_next_nex7/NEX7.usda +++ b/yaskawa_motoman_next_nex7/NEX7.usda @@ -21,11 +21,961 @@ } } } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "incomplete" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "incomplete" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "incomplete" + string version = "0.2.0" + } + } + } + } dictionary validation = { string profile = "Robot-Body" string profile_version = "3.0.0" dictionary validated_features = { - dictionary "2026-10-20" = { + dictionary "2026-10-30" = { dictionary "CAP000_Core.Isaac.0-1-0" = { bool blocking_failure = 0 string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" @@ -192,8 +1142,7 @@ dictionary "FET006_Materials.MDL.0-2-0" = { bool blocking_failure = 0 string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.VM.BIND.002']" - bool passed = 0 + bool passed = 1 string version = "0-2-0" } dictionary "FET006_Materials.OpenUSD.0-2-0" = { @@ -205,8 +1154,7 @@ dictionary "FET006_Materials.Openpbr.0-1-0" = { bool blocking_failure = 0 string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.PBR.001', 'com.nvidia.simready.VM.PBR.003']" - bool passed = 0 + bool passed = 1 string version = "0-1-0" } dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { @@ -275,6 +1223,10 @@ def Xform "NEX7_C00" ( variantSets = ["Sensor", "PhysX", "Newton", "MuJoCo"] ) { + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + over "base_link" { over "collisions" diff --git a/yaskawa_motoman_next_nex7/com.nvidia.simready.packaging.json b/yaskawa_motoman_next_nex7/com.nvidia.simready.packaging.json index 6e56f0bb48d6fc022c8f3225451d53e4f98f48fe..6681ee40da179c4fdc3e4c018385370fe9d79b5f 100644 --- a/yaskawa_motoman_next_nex7/com.nvidia.simready.packaging.json +++ b/yaskawa_motoman_next_nex7/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex7.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex7.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "428cfc892d716b661b0d9943c550bc15e9b8c818cefcd2f4be038eec9346ce9c" + "sha256": "5d9748691fdb1fcd6000fc4edfa9c74254dbf31b1a217302505e9675f0bae82f" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "a83708f74295ea76aebc921278b6ef7e8640cbe47e2123e91f79cf3fbced462d" + "sha256": "ac5382191b3a5e3fd2776468db5a49a8e9a9f4e29abb16c9a346d896844dd4de" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "35c3b70f82826969ad49a897e88271228c68a5427917d36578144e46452d73c5" + "sha256": "6ff48a470ecd03d4128c601363fdd14f8725396b78b44eeffa8b7981418c3c27" }, "package_hash": { - "sha256": "c4d36d3143a87964439fc8c2318b367e66976880c2a571f94f23b31479237c5e" + "sha256": "cb4ee9fe3c8755de4b2e28f0126075f99fe1de3217d3fd933e9f07aac252c407" } } diff --git a/yaskawa_motoman_next_nex7/payloads/instances.usda b/yaskawa_motoman_next_nex7/payloads/instances.usda index cbaf79458c648c900978a3b33467b753882a721e..204f02a6c78d35984aebba6727beafb7044615a6 100644 --- a/yaskawa_motoman_next_nex7/payloads/instances.usda +++ b/yaskawa_motoman_next_nex7/payloads/instances.usda @@ -85,7 +85,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -110,7 +110,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -135,7 +135,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -160,7 +160,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -185,7 +185,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -210,7 +210,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -263,7 +263,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -316,7 +316,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -396,7 +396,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -421,7 +421,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -446,7 +446,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -471,7 +471,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -575,7 +575,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -600,7 +600,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -625,7 +625,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -650,7 +650,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -675,7 +675,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -700,7 +700,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -780,7 +780,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -805,7 +805,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -830,7 +830,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -855,7 +855,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -908,7 +908,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } diff --git a/yaskawa_motoman_next_nex7/payloads/materials.usda b/yaskawa_motoman_next_nex7/payloads/materials.usda index 9533d12afc0ad7a3455e439aa042929b6dc266f5..05c7b5270687fd7c30b9bdfe2939f744fb3e333c 100644 --- a/yaskawa_motoman_next_nex7/payloads/materials.usda +++ b/yaskawa_motoman_next_nex7/payloads/materials.usda @@ -19,6 +19,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -155,9 +156,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "yaskawa_blue" @@ -171,6 +181,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -307,9 +318,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f3" @@ -323,6 +343,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -459,9 +480,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f4" @@ -475,6 +505,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -611,9 +642,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f5" @@ -627,6 +667,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -763,9 +804,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f7" @@ -779,6 +829,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -915,9 +966,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f2_012" @@ -931,6 +991,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1067,9 +1128,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f2_022" @@ -1083,6 +1153,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1219,9 +1290,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f2_027" @@ -1235,6 +1315,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1371,9 +1452,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f3_017" @@ -1387,6 +1477,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1523,9 +1614,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } } diff --git a/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index a8e1d33bceb23acb766736b5b10ae8020b93a450..3dce639c0bab98577161463c7aa4a75cb581d1e9 100644 --- a/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:21:32", + "timestamp": "2026-11-02T22:56:40", "assets": [ { "asset": "NHC12.usda", "features": [ { - "FET_031_STANDARD": { - "version": "0.1.0", + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_033_STANDARD": { - "version": "0.1.0", + "CAP033_SimReadyPackage.OpenUSD.0-1-0": { + "version": "0-1-0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_031_STANDARD": { - "version": "0.1.0" - } - } + "CAP031_SelfContainedPackage.OpenUSD.0-1-0" ] } } @@ -33,6 +29,6 @@ } ], "content_hash": { - "sha256": "f5b7798e120e4e35d8d570b859f26e41a933eacfb0034c5efae4bbfae2d26460" + "sha256": "36eff0c3137c48d87033ceb13e82510fb42733e1197df0157e2d221bf520545b" } } diff --git a/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..a5d45b11c7237e563a2573133138a7a046e66759 100644 --- a/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.0.0", - "timestamp": "2026-10-26T22:35:59", + "timestamp": "2026-11-02T22:56:42", "assets": [ { "asset": "com.nvidia.simready.packaging.json", "features": [ { - "FET_030_STANDARD": { - "version": "0.1.0", + "CAP030_PackagingCore.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [] } }, { - "FET_032_STANDARD": { - "version": "0.1.0", + "CAP032_PackagingIntrospection.OpenUSD.0-1-0": { + "version": "0.0.0", "passed": true, "failing_requirements": [], "dependencies": [ - { - "FET_030_STANDARD": { - "version": "0.1.0" - } - } + "CAP030_PackagingCore.OpenUSD.0-1-0" ] } } diff --git a/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.packaging.bom.json b/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.packaging.bom.json index 7dde5d895bb04e2bdfda54ff682eaaec2f044ee8..5a16383875fef18e6d52fb08ac30b742536990d8 100644 --- a/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.packaging.bom.json +++ b/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,13 +1,13 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_2.0/.packages/yaskawa_motoman_next_nhc12/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/yaskawa_motoman_next_nhc12/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7767, + "size": 49437, "hash": { - "sha256-flat-1mb": "f5bfcfe9a41edc7c43bc896d680ffd0a393696b1f81162c8d17794d0bbf90f35", - "sha256": "1b0f97d6102121f0b4209f55ce2b60af52d0ae4f0c76c77133d3802062d9dbd2" + "sha256-flat-1mb": "60678caf466441b20cc980d25651ae4cad35d680a6cb335ac019829b84246b9b", + "sha256": "06dfaae702000e6d9fc552d2267886882dc632a5aa12cb665f7cb8291bae4e31" } }, { @@ -28,10 +28,10 @@ }, { "relative_path": "NHC12.usda", - "size": 15723, + "size": 81103, "hash": { - "sha256-flat-1mb": "6f6134a080cb71c84aacccd31a246dee76ab3cd5bff51394842be24b35611b98", - "sha256": "ab9ef564f50a2832f592808d575a2f004bad9eccc86449eb474343ea0babf296" + "sha256-flat-1mb": "ff762c46632c2847639415c4f4df9b4617a6c8b527a3ace170905baf999b957c", + "sha256": "894541760442be5a03a639a18fb337f10e1f9837f6cd3f0e86b2b61eee4b94d0" } }, { @@ -165,18 +165,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 38238, + "size": 38266, "hash": { - "sha256-flat-1mb": "73ec51b5a826204d1b95fe066ecb9ef233f8f996c7cb1910f5f1a9b383c14dcf", - "sha256": "ac2851872680dceea726b61b88cc9bce66c6759321cad00a1355d35fcacb7cbb" + "sha256-flat-1mb": "d4f47ee4181a73a708ffee1e60b266872906a3d4683f69628ebb3cb2f1145ea0", + "sha256": "36234283bcd88411d526d14a75161c89c49fffee7c35b2a8041d1589c943dbb8" } }, { "relative_path": "payloads/materials.usda", - "size": 69044, + "size": 74564, "hash": { - "sha256-flat-1mb": "a6c9b1c7ec3ed95c2f31134ddf4ef41336b888f4bd30eef1f79981bf5271591a", - "sha256": "871deebd0114b6361588d3768f96e4526251eb76e1f9b4394b6fd402dadd3f9f" + "sha256-flat-1mb": "0728a2aadd1e7780166648fad46d74944d856081230f73ef7f2af408a77f7a6f", + "sha256": "f1e441ebf4d6b64bd1a7fb207b03d30b235fa0c9fc97626ec1be6f09cfd5211b" } }, { @@ -212,4 +212,4 @@ } } ] -} +} \ No newline at end of file diff --git a/yaskawa_motoman_next_nhc12/.simready/validation.json b/yaskawa_motoman_next_nhc12/.simready/validation.json index 22ddc766c14fb050a865eeb7ee2c5b8afc840419..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/yaskawa_motoman_next_nhc12/.simready/validation.json +++ b/yaskawa_motoman_next_nhc12/.simready/validation.json @@ -4,7 +4,7 @@ "profile": "Robot-Body", "profile_version": "3.0.0", "validated_features": { - "2026-10-20": { + "2026-10-30": { "CAP000_Core.Isaac.0-1-0": { "blocking_failure": false, "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", @@ -171,8 +171,7 @@ "FET006_Materials.MDL.0-2-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.VM.BIND.002']", - "passed": false, + "passed": true, "version": "0-2-0" }, "FET006_Materials.OpenUSD.0-2-0": { @@ -184,8 +183,7 @@ "FET006_Materials.Openpbr.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.PBR.001', 'com.nvidia.simready.VM.PBR.003']", - "passed": false, + "passed": true, "version": "0-1-0" }, "FET010_DisplayColor.OpenUSD.0-1-0": { @@ -220,6 +218,956 @@ } } } + }, + "runtime_testing": 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"ik_target_reach", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.8", + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + "jacobian_ik": { + "passed": true, + "status": "pass", + "name": "jacobian_ik", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.4.12" + }, + "mimic_joint": { + "passed": false, + "status": "skipped", + "name": "mimic_joint", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.11" + }, + "multi_joint_coordination": { + "passed": true, + "status": "pass", + "name": "multi_joint_coordination", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.6" + }, + "state_accuracy": { + "passed": true, + "status": "pass", + "name": "state_accuracy", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.9" + }, + "velocity_limit": { + "passed": true, + "status": "pass", + "name": "velocity_limit", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.11" + } + }, + "status": "incomplete" + } + }, + "failure_categories": [ + "test_or_runtime_error" + ], + "contract_id": "FET022_DrivenJoints.PhysX.0-2-0", + "display_name": "Driven Joints (PhysX)", + "family": "FET022", + "runtime": "PhysX", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET003_RigidBody.Newton.0-1-0": { + "passed": false, + "status": "skipped", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": false, + "tests": { + "ground_drop_newton": { + "passed": false, + "status": "skipped", + "name": "ground_drop_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "4.0.1" + }, + "ground_stability_newton": { + "passed": false, + "status": "skipped", + "name": "ground_stability_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "3.0.1" + }, + "slope_drop_newton": { + "passed": false, + "status": "skipped", + "name": "slope_drop_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "3.3.5" + } + }, + "status": "skipped" + } + }, + "contract_id": "FET003_RigidBody.Newton.0-1-0", + "display_name": "Rigid Body Physics (Newton)", + "family": "FET003", + "runtime": "Newton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET004_Multibody.Newton.0-1-0": { + "passed": true, + "status": "pass", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": true, + "tests": { + "joint_movement_newton": { + "passed": true, + "status": "pass", + "name": "joint_movement_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "2.2.5" + } + }, + "status": "pass" + } + }, + "contract_id": "FET004_Multibody.Newton.0-1-0", + "display_name": "Simulate Multi-Body Physics (Newton)", + "family": "FET004", + "runtime": "Newton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "passed": false, + "status": "incomplete", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": false, + "tests": { + "drive_gain_validation_newton": { + "passed": true, + "status": "pass", + "name": "drive_gain_validation_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.10" + }, + "effort_limit_newton": { + "passed": true, + "status": "pass", + "name": "effort_limit_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.10" + }, + "full_range_sweep_newton": { + "passed": true, + "status": "pass", + "name": "full_range_sweep_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.5.7" + }, + "ik_target_reach_newton": { + "passed": false, + "status": "incomplete", + "name": "ik_target_reach_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.9", + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + "jacobian_ik_newton": { + "passed": true, + "status": "pass", + "name": "jacobian_ik_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.4.12" + }, + "mimic_joint_newton": { + "passed": false, + "status": "skipped", + "name": "mimic_joint_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.12" + }, + "multi_joint_coordination_newton": { + "passed": true, + "status": "pass", + "name": "multi_joint_coordination_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.6" + }, + "state_accuracy_newton": { + "passed": true, + "status": "pass", + "name": "state_accuracy_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.2.10" + }, + "velocity_limit_newton": { + "passed": true, + "status": "pass", + "name": "velocity_limit_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "1.1.12" + } + }, + "status": "incomplete" + } + }, + "failure_categories": [ + "test_or_runtime_error" + ], + "contract_id": "FET022_DrivenJoints.Newton.0-1-0", + "display_name": "Driven Joints (Newton)", + "family": "FET022", + "runtime": "Newton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "passed": false, + "status": "incomplete", + "version": "0.2.0", + "engines": { + "isaac_sim": { + "passed": false, + "tests": { + "drive_gain_validation": { + "passed": true, + "status": "pass", + "name": "drive_gain_validation", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.9" + }, + "effort_limit": { + "passed": true, + "status": "pass", + "name": "effort_limit", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.0" + }, + "full_range_sweep": { + "passed": true, + "status": "pass", + "name": "full_range_sweep", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.5.6" + }, + "ik_target_reach": { + "passed": false, + "status": "incomplete", + "name": "ik_target_reach", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.8", + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + "jacobian_ik": { + "passed": true, + "status": "pass", + "name": "jacobian_ik", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.4.12" + }, + "mimic_joint": { + "passed": false, + "status": "skipped", + "name": "mimic_joint", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.11" + }, + "multi_joint_coordination": { + "passed": true, + "status": "pass", + "name": "multi_joint_coordination", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.6" + }, + "state_accuracy": { + "passed": true, + "status": "pass", + "name": "state_accuracy", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.2.9" + }, + "velocity_limit": { + "passed": true, + "status": "pass", + "name": "velocity_limit", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "1.1.11" + } + }, + "status": "incomplete" + } + }, + "failure_categories": [ + "test_or_runtime_error" + ], + "contract_id": "FET022_DrivenJoints.Isaac.0-2-0", + "display_name": "Driven Joints (Isaac)", + "family": "FET022", + "runtime": "Isaac", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "passed": true, + "status": "pass", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": true, + "tests": { + "joint_movement_newton": { + "passed": true, + "status": "pass", + "name": "joint_movement_newton", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py", + "provider": "simready.foundation.tier_newton.runtime_tests", + "version": "2.2.5" + } + }, + "status": "pass" + } + }, + "contract_id": "FET004_Multibody.RobotNewton.0-1-0", + "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/yaskawa_motoman_next_nhc12/NHC12.usda b/yaskawa_motoman_next_nhc12/NHC12.usda index a1dee947c5f279e11482b56d9ae2c2b03fe42fd3..7d5f0b5cec5e24b0e897811dd24f5439f80b40ae 100644 --- a/yaskawa_motoman_next_nhc12/NHC12.usda +++ b/yaskawa_motoman_next_nhc12/NHC12.usda @@ -21,11 +21,961 @@ } } } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "incomplete" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "incomplete" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "incomplete" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "incomplete" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + dictionary failure_categories = { + string "0" = "test_or_runtime_error" + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Body" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Body" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "incomplete" + string version = "0.2.0" + } + } + } + } dictionary validation = { string profile = "Robot-Body" string profile_version = "3.0.0" dictionary validated_features = { - dictionary "2026-10-20" = { + dictionary "2026-10-30" = { dictionary "CAP000_Core.Isaac.0-1-0" = { bool blocking_failure = 0 string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" @@ -192,8 +1142,7 @@ dictionary "FET006_Materials.MDL.0-2-0" = { bool blocking_failure = 0 string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.VM.BIND.002']" - bool passed = 0 + bool passed = 1 string version = "0-2-0" } dictionary "FET006_Materials.OpenUSD.0-2-0" = { @@ -205,8 +1154,7 @@ dictionary "FET006_Materials.Openpbr.0-1-0" = { bool blocking_failure = 0 string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.PBR.001', 'com.nvidia.simready.VM.PBR.003']" - bool passed = 0 + bool passed = 1 string version = "0-1-0" } dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { @@ -275,6 +1223,10 @@ def Xform "NHC12_A00" ( variantSets = ["Sensor", "PhysX", "Newton", "MuJoCo"] ) { + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + over "link_1_s" { over "collisions" diff --git a/yaskawa_motoman_next_nhc12/com.nvidia.simready.packaging.json b/yaskawa_motoman_next_nhc12/com.nvidia.simready.packaging.json index 444458b3a0a512eeb86d6df831f9aa5ba2d21969..9e8a79a89872a81b63e326593c6c5ae77202d8aa 100644 --- a/yaskawa_motoman_next_nhc12/com.nvidia.simready.packaging.json +++ b/yaskawa_motoman_next_nhc12/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nhc12.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nhc12.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "3de3181f9c12c2c460eda037b941881531737d82f54e2b9b06d0e970d48a2765" + "sha256": "29eadf74e7dbc7525f4a878f578e179bd80ee1ccf8ae542bd5d37fbeabdbc15a" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "9016d77e64559e97c5aacb5e157ccc3ec627e188382922e68779fc605859d305" + "sha256": "79daca8b3fa4abe347fbd148975eb5c46192701c902bfeda15278c6b0fdc74d0" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "da82099b9971490c86cd58ec55b0d197b44b4b91b1c66b55275f234a7ce71ae7" + "sha256": "36eff0c3137c48d87033ceb13e82510fb42733e1197df0157e2d221bf520545b" }, "package_hash": { - "sha256": "139797b2dfd52429002d4c1b681e8db29fa4fe6977679d1f5ed40b0ad59a9d8b" + "sha256": "76b429b302e7244eebde464a23b7e2fb824d645a6978564ae9c2d4149ddad97f" } } diff --git a/yaskawa_motoman_next_nhc12/payloads/instances.usda b/yaskawa_motoman_next_nhc12/payloads/instances.usda index 37f77d10aeb227ca54829382f91840cb0dd06d25..ca8e00fa1830b109d0529fbb378072f0c78dd470 100644 --- a/yaskawa_motoman_next_nhc12/payloads/instances.usda +++ b/yaskawa_motoman_next_nhc12/payloads/instances.usda @@ -101,7 +101,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -126,7 +126,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -151,7 +151,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -176,7 +176,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -201,7 +201,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -226,7 +226,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -251,7 +251,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -323,7 +323,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -348,7 +348,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -373,7 +373,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -445,7 +445,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -470,7 +470,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -495,7 +495,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -559,7 +559,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -584,7 +584,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -672,7 +672,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -697,7 +697,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -722,7 +722,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -747,7 +747,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -811,7 +811,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -836,7 +836,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -948,7 +948,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -973,7 +973,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -998,7 +998,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1023,7 +1023,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1048,7 +1048,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1073,7 +1073,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1098,7 +1098,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } diff --git a/yaskawa_motoman_next_nhc12/payloads/materials.usda b/yaskawa_motoman_next_nhc12/payloads/materials.usda index 816679c393ab90eed98b4a064586103ee64b31de..1f1cef70dc8ebae4b32979b054622b42f93f3194 100644 --- a/yaskawa_motoman_next_nhc12/payloads/materials.usda +++ b/yaskawa_motoman_next_nhc12/payloads/materials.usda @@ -19,6 +19,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -155,9 +156,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f1" @@ -171,6 +181,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -307,9 +318,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f3" @@ -323,6 +343,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -459,9 +480,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "yaskawa_blue" @@ -475,6 +505,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -611,9 +642,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f5" @@ -627,6 +667,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -763,9 +804,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f6" @@ -779,6 +829,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -915,9 +966,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f9" @@ -931,6 +991,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1067,9 +1128,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f3_010" @@ -1083,6 +1153,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1219,9 +1290,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f4_007" @@ -1235,6 +1315,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1371,9 +1452,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f4_009" @@ -1387,6 +1477,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1523,9 +1614,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f5_007" @@ -1539,6 +1639,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1675,9 +1776,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f2_024" @@ -1691,6 +1801,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1827,9 +1938,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } def Material "f2_036" @@ -1843,6 +1963,7 @@ def Scope "Materials" prepend token outputs:mdl:displacement.connect = prepend token outputs:mdl:surface.connect = prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1979,9 +2100,18 @@ def Scope "Materials" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } } }