diff --git a/addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 18822b29b80d5e777beb924ae113ed47ba486e14..1375601db73897de9577f569bea14e79086cd926 100644 --- a/addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/addverb_syncro10/.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": "2026-10-26T18:16:16", + "timestamp": "2026-11-02T23:07:16", "assets": [ { "asset": "Syncro10.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": "ad1ca47e248f4c524b09ddc76582c2f57e48d890297c92a6774de09489945f4e" + "sha256": "cd2457135187666552afba72f61e1faef0ae8fe036d4fe44326b56c81b506cb2" } } diff --git a/addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8076d65a4413b30976bab266afbd3540debfd191..12a485e1e704db504a708c30b580601fee5bef6c 100644 --- a/addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/addverb_syncro10/.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": "2026-10-26T22:35:55", + "timestamp": "2026-11-02T23:07:18", "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/addverb_syncro10/.metadata/com.nvidia.simready.packaging.bom.json b/addverb_syncro10/.metadata/com.nvidia.simready.packaging.bom.json index 1c2df80685ce304ac0c1aa2dbf1a286e60f2ce00..7e04ff8cb2d83f64542a3138b818bd9674ae5ab5 100644 --- a/addverb_syncro10/.metadata/com.nvidia.simready.packaging.bom.json +++ b/addverb_syncro10/.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/addverb_syncro10/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/addverb_syncro10/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49437, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "60678caf466441b20cc980d25651ae4cad35d680a6cb335ac019829b84246b9b", + "sha256": "06dfaae702000e6d9fc552d2267886882dc632a5aa12cb665f7cb8291bae4e31" } }, { @@ -18,20 +18,12 @@ "sha256": "4d4e9d465c9d3f02623e7da78f913de709e4fa4886a7fad8f0bf6350fa21d76e" } }, - { - "relative_path": ".thumbs/Syncro10.thumb.usd", - "size": 6124, - "hash": { - "sha256-flat-1mb": "85a2fe3e291050e39f4ee5e1c56ba4460ee5f1393fa963198449e81b904a2b5d", - "sha256": "82530a47701bc5f8206dbdeaee257bd91da5f48dff98e6c16702f43019717b5e" - } 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"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/addverb_syncro10/.thumbs/Syncro10.thumb.usd b/addverb_syncro10/.thumbs/Syncro10.thumb.usd deleted file mode 100644 index 3d63deb89447e6a1e2059950d2012a16382651f9..0000000000000000000000000000000000000000 Binary files a/addverb_syncro10/.thumbs/Syncro10.thumb.usd and /dev/null differ diff --git a/addverb_syncro10/Syncro10.usda b/addverb_syncro10/Syncro10.usda index 83177d1c67e42328206d4a1578b9181ccfdce954..9319edd47802feeb69b3d8c3306484e3ae921522 100644 --- a/addverb_syncro10/Syncro10.usda +++ b/addverb_syncro10/Syncro10.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/addverb_syncro10/com.nvidia.simready.packaging.json b/addverb_syncro10/com.nvidia.simready.packaging.json index c196074f43c9ba6921789543c967a0ed93772c0c..8b07593bea189cb027ecf0f6a184faf950f1742e 100644 --- a/addverb_syncro10/com.nvidia.simready.packaging.json +++ b/addverb_syncro10/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.addverb_syncro10.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.addverb_syncro10.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "2a7f096166d0a9895f29bd159e243d4e41b2794c441619fe700032c96a9ca84f" + "sha256": "b2ec96fa8c47fe48a237d511d2ad0567d18577efda4479f5ea5aee472a6bac17" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "250b4639c3a2587629fa9062b428d3c0457b62e957338b35f4a06d371237f257" + "sha256": "acc0bd6d31ae3dff564c3a35b87c6ead604ac2631931ca8a67ea66be812433f9" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "13790004f8292528303d6c8938f86f6706eafa9aaaaca75bcd0274474e5b864b" + "sha256": "cd2457135187666552afba72f61e1faef0ae8fe036d4fe44326b56c81b506cb2" }, "package_hash": { - "sha256": "490573df118f85ad255a6c720f68e1a411d128eb17a33e448bc0dc6a20443349" + "sha256": "f7f9c84df5c645339eb3f7ce11a5e7d23fde23d6b5a958291f8451c143dba13a" } } diff --git a/addverb_syncro10/payloads/materials.usda b/addverb_syncro10/payloads/materials.usda index 6f3da74eef1c4e0d29f92a2eefe5c23ff3d0ddd8..5409c5d9ed51794f9dff9c43341671bcb9458e7b 100644 --- a/addverb_syncro10/payloads/materials.usda +++ b/addverb_syncro10/payloads/materials.usda @@ -23,8 +23,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -46,7 +46,7 @@ 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@ @@ -55,7 +55,7 @@ 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) @@ -79,8 +79,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -102,7 +102,7 @@ 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@ @@ -111,7 +111,7 @@ 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) diff --git a/addverb_syncro10/runnables/physics/physx.usda b/addverb_syncro10/runnables/physics/physx.usda index f1a450efd31e204d7571f695552e44e761269218..abfa3f0854df40251242c343537b74db1c0d9065 100644 --- a/addverb_syncro10/runnables/physics/physx.usda +++ b/addverb_syncro10/runnables/physics/physx.usda @@ -152,5 +152,10 @@ over "Syncro10" } } } + + over "__fixed_base_joint" + { + bool physics:jointEnabled = 0 + } } diff --git a/addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index b2184abf3485876addde7349cce61065b0c16d71..b650a2289c7bce5a8790963e291cc04ef96c875e 100644 --- a/addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/addverb_syncro5/.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": "2026-10-26T18:16:36", + "timestamp": "2026-11-02T23:07:19", "assets": [ { "asset": "Syncro5.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": "2cae9ce365ca38844bc85548ae5ed04cc77e256fcce6bf25ceb380e9fa474770" + "sha256": "31485ecee9004e07193d8b12ff9189966d252c22fe5da93d801f4f36b5260f30" } } diff --git a/addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8076d65a4413b30976bab266afbd3540debfd191..62b3d154e239203461bbd54538ef8092c8a7fcaf 100644 --- a/addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/addverb_syncro5/.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": "2026-10-26T22:35:55", + "timestamp": "2026-11-02T23:07:21", "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/addverb_syncro5/.metadata/com.nvidia.simready.packaging.bom.json b/addverb_syncro5/.metadata/com.nvidia.simready.packaging.bom.json index b65aca88ed69a1ed1cdc3d61e06c988372c5185e..13c75f2b7588a9c83214f8e3bd0b75bb92c4c104 100644 --- a/addverb_syncro5/.metadata/com.nvidia.simready.packaging.bom.json +++ b/addverb_syncro5/.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/addverb_syncro5/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/addverb_syncro5/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49437, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "60678caf466441b20cc980d25651ae4cad35d680a6cb335ac019829b84246b9b", + "sha256": "06dfaae702000e6d9fc552d2267886882dc632a5aa12cb665f7cb8291bae4e31" } }, { @@ -18,20 +18,12 @@ "sha256": "2dd9f501c2fd545fe8c9cf964121e1b47ea5ddbfae8be246a50262d5eec3a83d" } }, - { - "relative_path": ".thumbs/Syncro5.thumb.usd", - "size": 6128, - "hash": { - "sha256-flat-1mb": "c12c39b3ae08a374e206fb0224d93e68b9cffd9bd34ce43ef8a05862869bee50", - "sha256": "05bf84548aea96baab7eae14441ed46f4d2a7defe8155b89d498e7255852e9ed" - } - }, { "relative_path": "Syncro5.usda", - "size": 16407, + "size": 81953, "hash": { - "sha256-flat-1mb": "089564c096ae89909d5cb19e1985051a846b7100b47d9fde2ca98cb24fecd3a3", - "sha256": "8c02921cad8c5004d883d60c82a214b498f51db8a3c8fe4ffb4c8ab46cc8294f" + "sha256-flat-1mb": "927890acfea0d42daf771d6de4b935d7901a16124075149f3f429ab70a18d8e1", + "sha256": "266bda9e2df06d87ecb8c3b84bbed55e4f7c7fd3dec14ed13f38b559b89fa19e" } }, { @@ -149,10 +141,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 2556, + "size": 2580, "hash": { - "sha256-flat-1mb": "be07f93f4fb1c47b80c2832e42507dbc1705f66564ee67047e6fa75ee257e5d6", - "sha256": "36efe9551c072c61de45e4c8124098e69023e3bfda941bdcae07d66b10de3f27" + "sha256-flat-1mb": "985d64779994023205dc6f0baf12d1602617dbcb5a8ce51fb66b1f6faad077ef", + "sha256": "db9240c38ccfe41eeeba83851ed1f60adc69bdd90e4e6b76a5c8de204dbc4282" } }, { @@ -188,4 +180,4 @@ } } ] -} +} \ No newline at end of file diff --git a/addverb_syncro5/.simready/validation.json b/addverb_syncro5/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/addverb_syncro5/.simready/validation.json +++ b/addverb_syncro5/.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", + "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": 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"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/addverb_syncro5/.thumbs/Syncro5.thumb.usd b/addverb_syncro5/.thumbs/Syncro5.thumb.usd deleted file mode 100644 index 745d962b40bdfc56b18c25fd50624d60bdc15b8e..0000000000000000000000000000000000000000 Binary files a/addverb_syncro5/.thumbs/Syncro5.thumb.usd and /dev/null differ diff --git a/addverb_syncro5/Syncro5.usda b/addverb_syncro5/Syncro5.usda index 7c90902a1277535858aaf5aebd95276b264a5cdd..ed00d8c4a7255682403ec56a759fadc022e89872 100644 --- a/addverb_syncro5/Syncro5.usda +++ b/addverb_syncro5/Syncro5.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/addverb_syncro5/com.nvidia.simready.packaging.json b/addverb_syncro5/com.nvidia.simready.packaging.json index 14d13553eba829d321ab90b9da3ced7f63b9fd7c..fee3e6d0208ba891d0afb904d5465c33f8f89985 100644 --- a/addverb_syncro5/com.nvidia.simready.packaging.json +++ b/addverb_syncro5/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.addverb_syncro5.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.addverb_syncro5.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "8459443456543186277e0a2c629a9d8115b0c218c0d9ab2debd9ef569b705a02" + "sha256": "428e0a34162e926533be55612cee21c73cd865788af43720067cdf5394a07742" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "aac25f3bfb6b7a52fdd3c4f8540330cd70033a86d5e53d177fd6589f782ddba2" + "sha256": "efb72d5281b023dd8f49cc1db119989ac1e658f239aecad38cf736bf3008c51c" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "929196233b16b5608736c3af93d02bcad0224ed4f8277ee9521970700a22c638" + "sha256": "31485ecee9004e07193d8b12ff9189966d252c22fe5da93d801f4f36b5260f30" }, "package_hash": { - "sha256": "16b641312dfae485b47ced4f31cf36cc45146d825881841f965f39ba705ef14d" + "sha256": "8059f5ff11e42494596013ac0030cdb59e064ea2a234cae4c977a231ab7a7066" } } diff --git a/addverb_syncro5/payloads/materials.usda b/addverb_syncro5/payloads/materials.usda index 560d2f16edae5bcf75658192049a6a6fd4023318..661bf375cae9f58f852a01cbedcc66bde31c5ceb 100644 --- a/addverb_syncro5/payloads/materials.usda +++ b/addverb_syncro5/payloads/materials.usda @@ -23,8 +23,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -46,7 +46,7 @@ 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@ @@ -55,7 +55,7 @@ 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) 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": { + "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": 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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/denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 5bc7dcd0e881ac6ed7615b891b2243ecdbbc4f44..f8f534f570171a08bfd66b577cdc9bfaf4169a85 100644 --- a/denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/denso_cobottapro1300_cobotta_pro_1300/.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": "2026-10-26T18:16:38", + "timestamp": "2026-11-02T23:07:22", "assets": [ { "asset": "cobotta_pro_1300.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": "ecd6a1d493f198a67a3d62dea80d2b86d97bc7887b4cda93b58576eea77e8398" + "sha256": "e243460276067a7f7350a23d4385129779ff3425b80d2ab4c8f4daa2ee39f45c" } } diff --git a/denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8076d65a4413b30976bab266afbd3540debfd191..0edc267bf248fc4d7c96668c99ea02be53ff3f4b 100644 --- a/denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/denso_cobottapro1300_cobotta_pro_1300/.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": "2026-10-26T22:35:55", + "timestamp": "2026-11-02T23:07:24", "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/denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.packaging.bom.json b/denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.packaging.bom.json index d7c5cbe65cbdae0d9d1dffebba53723f1de9e720..64cf92dcad11fc6df1267af24e0b4973be4702c2 100644 --- a/denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.packaging.bom.json +++ b/denso_cobottapro1300_cobotta_pro_1300/.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/denso_cobottapro1300_cobotta_pro_1300/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/denso_cobottapro1300_cobotta_pro_1300/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7767, + "size": 49425, "hash": { - "sha256-flat-1mb": "f5bfcfe9a41edc7c43bc896d680ffd0a393696b1f81162c8d17794d0bbf90f35", - "sha256": "1b0f97d6102121f0b4209f55ce2b60af52d0ae4f0c76c77133d3802062d9dbd2" + "sha256-flat-1mb": "0a4f834047dcd7425b62be9a4e812bebe2acec9be4d178ab8a99801d1861305c", + "sha256": "8451dd63bc4ae22a9642193a9aee18c8c9e6e22eb33bb239f9537f7f83d8e8bd" } }, { @@ -18,20 +18,12 @@ "sha256": "adca11d20b8ae020b7b55128ff92d15a5b5eec5da692e17793a1dd206ee359df" } }, - { - "relative_path": ".thumbs/cobotta_pro_1300.thumb.usd", - "size": 6133, - "hash": { - "sha256-flat-1mb": "a77fc01e1ac1fc7a5492b9b31c38e8a02ff5dc350da3b097b40cdb2cb3d50d43", - "sha256": "d11d70d3c6eed8d7c42022156fa2d06b73d33b82b49062a0d0fd54d5bab152df" - } - }, { "relative_path": "cobotta_pro_1300.usda", - "size": 18037, + "size": 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"sha256": "9614724d33d644285d256eab8bdd155963eeeb467af891a219bc407ec7d5b3a6" + "sha256-flat-1mb": "b6c6664eb6b9c6f56fbb5c9ef0ca260a54bb5c28dfaae9ebaeca26e793463456", + "sha256": "3d350e9bc89e907c357d9ee3280780c412e9a863639e10c9e7d7420ac60bbad5" } }, { @@ -165,19 +157,19 @@ }, { "relative_path": "runnables/physics/newton.usda", - "size": 9878, + "size": 11816, "hash": { - "sha256-flat-1mb": "faabec6ce9e5af951946d6983c59eba2c7169d4821fe2c8497d7f8f71b922829", - "sha256": "c52c2e022e5cf5d2fa8e743b39f3b4d7fff076c1671062d225e02965bae5c21f" + "sha256-flat-1mb": "54464cc3baffa2c7de907edb71f75c148cba419421c3ec65f5155b1dbf6b5f6f", + "sha256": "20ff4a75e01169610df9b0417d5b070a175b263715dbe6cd4748a47a7893aca4" } }, { "relative_path": "runnables/physics/physx.usda", - "size": 9082, + "size": 11390, "hash": { - "sha256-flat-1mb": "9fdc13e2b02ae18e83380f63925d9d1d0083c4efab4498d2804c6ad430f16b53", - "sha256": "542c1107c8098141d969fbedd83368791d3e41db1d7635a76bc7b45e9a62449b" + "sha256-flat-1mb": 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"PhysX", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET022_DrivenJoints.PhysX.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": 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"/.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": true, + "status": "pass", + "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": true, + "status": "pass", + "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": true, + "status": "pass", + "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/denso_cobottapro1300_cobotta_pro_1300/.thumbs/cobotta_pro_1300.thumb.usd b/denso_cobottapro1300_cobotta_pro_1300/.thumbs/cobotta_pro_1300.thumb.usd deleted file mode 100644 index 4302647834f74dbf715dfb9f6c59ca76586d30da..0000000000000000000000000000000000000000 Binary files a/denso_cobottapro1300_cobotta_pro_1300/.thumbs/cobotta_pro_1300.thumb.usd and /dev/null differ diff --git a/denso_cobottapro1300_cobotta_pro_1300/cobotta_pro_1300.usda b/denso_cobottapro1300_cobotta_pro_1300/cobotta_pro_1300.usda index 2bfedf84871e2dc4ad3f165f5c167faf82f5b039..5b5210988e4b39a8afdcac4f0ead0d1a06b4e809 100644 --- a/denso_cobottapro1300_cobotta_pro_1300/cobotta_pro_1300.usda +++ b/denso_cobottapro1300_cobotta_pro_1300/cobotta_pro_1300.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 = 1 + string provider = "simready.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/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 = 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/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 = 1 + string provider = "simready.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/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" = { @@ -298,6 +1246,9 @@ def Xform "cobotta_pro_1300" ( , , ] + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) over "base_link" { diff --git a/denso_cobottapro1300_cobotta_pro_1300/com.nvidia.simready.packaging.json b/denso_cobottapro1300_cobotta_pro_1300/com.nvidia.simready.packaging.json index e54a62e082c21b0796ff0131399ea083c18bbafc..faf88058b41d47648370a3ec184bc8d0a69197d0 100644 --- a/denso_cobottapro1300_cobotta_pro_1300/com.nvidia.simready.packaging.json +++ b/denso_cobottapro1300_cobotta_pro_1300/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.denso_cobottapro1300_cobotta_pro_1300.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.denso_cobottapro1300_cobotta_pro_1300.3.0.0", "license": "unknown", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "d0eaad2b9055a3285790385fcf06ab18fca07042c5f3d0d4e7cdd6d9e32f059e" + "sha256": "69741881bba554d97edeb33cd69a9bf7f584510f29acceedae4999d3cae2b23a" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "4a6f8134b6c801845216ef336ee0d8c57a4e9f32cdc30f41b191781d2536c873" + "sha256": "ccb2c98eb41a7af2fdfe04222ab220fe210f89d9ed38645dcf38e188bc3bb85d" } }, { @@ -23,9 +23,9 @@ } ], "content_hash": { - "sha256": "4aaf72a15e85107cb5ef9baf20e808accfa4fad13905507e8bcc52df62b2cb1f" + "sha256": "e243460276067a7f7350a23d4385129779ff3425b80d2ab4c8f4daa2ee39f45c" }, "package_hash": { - "sha256": "baee60e007db0b682690349e763705ddf5a52d6a98a9780bd6364be452a7d6c4" + "sha256": "a50abf04d4b1ed39f3a687d26171f02a192ac04520d8e7c3717349c97429d9af" } -} +} \ No newline at end of file diff --git a/denso_cobottapro1300_cobotta_pro_1300/payloads/instances.usda b/denso_cobottapro1300_cobotta_pro_1300/payloads/instances.usda index 3bf400ad4a2b9e5df4cf5e8a26b4fc6dfc0b7725..a2e5902d2306d5df756bba0c1d23436424414c72 100644 --- a/denso_cobottapro1300_cobotta_pro_1300/payloads/instances.usda +++ b/denso_cobottapro1300_cobotta_pro_1300/payloads/instances.usda @@ -54,7 +54,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -116,7 +116,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -178,7 +178,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -240,7 +240,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -302,7 +302,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -364,7 +364,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -426,7 +426,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -488,7 +488,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -550,7 +550,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -612,7 +612,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -674,7 +674,7 @@ 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/denso_cobottapro1300_cobotta_pro_1300/payloads/materials.usda b/denso_cobottapro1300_cobotta_pro_1300/payloads/materials.usda index 938cd6cc803772f55eab44161486929749b77b03..7cd7ed7a466531ef4f66925333c2b9752cad5a0c 100644 --- a/denso_cobottapro1300_cobotta_pro_1300/payloads/materials.usda +++ b/denso_cobottapro1300_cobotta_pro_1300/payloads/materials.usda @@ -22,6 +22,7 @@ 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" ) @@ -56,9 +57,18 @@ 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 "material_blinn20_1" @@ -72,6 +82,7 @@ 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" ) @@ -106,9 +117,18 @@ 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 "material_CCCCCC" @@ -122,6 +142,7 @@ 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" ) @@ -154,9 +175,18 @@ 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 "material_191919" @@ -170,6 +200,7 @@ 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" ) @@ -202,9 +233,18 @@ 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/denso_cobottapro1300_cobotta_pro_1300/runnables/physics/newton.usda b/denso_cobottapro1300_cobotta_pro_1300/runnables/physics/newton.usda index c9f826c7c494f6b39afdca2109b2f6bad3d4c45d..5e2851292ceec44fe63cd99ceb902d431cc0c0b7 100644 --- a/denso_cobottapro1300_cobotta_pro_1300/runnables/physics/newton.usda +++ b/denso_cobottapro1300_cobotta_pro_1300/runnables/physics/newton.usda @@ -19,12 +19,15 @@ over "cobotta_pro_1300" ( over "base_link" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "collisions" { over "visuals" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -37,17 +40,22 @@ over "cobotta_pro_1300" ( float drive:angular:physics:stiffness = 39.2699 float newton:damping = 1.308997 float newton:velocityLimit = 57.29578 + float physics:lowerLimit = -200 + float physics:upperLimit = 200 } } over "J1" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "collisions" { over "visuals_1" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -66,12 +74,15 @@ over "cobotta_pro_1300" ( over "J2" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "collisions" { over "visuals_2" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -89,12 +100,15 @@ over "cobotta_pro_1300" ( over "J3" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "collisions" { over "visuals_3" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -107,17 +121,22 @@ over "cobotta_pro_1300" ( float drive:angular:physics:stiffness = 39.2699 float newton:damping = 1.308997 float newton:velocityLimit = 57.29578 + float physics:lowerLimit = -150 + float physics:upperLimit = 150 } } over "J4" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "collisions" { over "visuals_4" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -135,12 +154,15 @@ over "cobotta_pro_1300" ( over "J5" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "collisions" { over "visuals_5" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -153,17 +175,22 @@ over "cobotta_pro_1300" ( float drive:angular:physics:stiffness = 39.2699 float newton:damping = 1.308997 float newton:velocityLimit = 57.29578 + float physics:lowerLimit = -170 + float physics:upperLimit = 170 } } over "J6" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "collisions" { over "visuals_6" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -171,12 +198,15 @@ over "cobotta_pro_1300" ( over "onrobot_rg6_base_link" { + float3 physics:diagonalInertia = (0.001, 0.001, 0.001) + over "collisions" { over "collisions" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -234,12 +264,15 @@ over "cobotta_pro_1300" ( over "left_outer_knuckle" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_1" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -260,12 +293,15 @@ over "cobotta_pro_1300" ( over "left_inner_finger" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_2" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -273,12 +309,15 @@ over "cobotta_pro_1300" ( over "left_inner_knuckle" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_3" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -286,12 +325,15 @@ over "cobotta_pro_1300" ( over "right_inner_knuckle" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_3" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -299,12 +341,15 @@ over "cobotta_pro_1300" ( over "right_outer_knuckle" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_1" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -325,12 +370,15 @@ over "cobotta_pro_1300" ( over "right_inner_finger" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_2" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } diff --git a/denso_cobottapro1300_cobotta_pro_1300/runnables/physics/physx.usda b/denso_cobottapro1300_cobotta_pro_1300/runnables/physics/physx.usda index cfce4685bb7ded17f6f3af4bf96722346d30db8a..0b97b736655e8aba34e547905d9eef43622120c4 100644 --- a/denso_cobottapro1300_cobotta_pro_1300/runnables/physics/physx.usda +++ b/denso_cobottapro1300_cobotta_pro_1300/runnables/physics/physx.usda @@ -18,8 +18,18 @@ over "cobotta_pro_1300" ( int physxArticulation:solverPositionIterationCount = 32 int physxArticulation:solverVelocityIterationCount = 16 + over "world" + { + over "joint_w" + { + bool physics:jointEnabled = 0 + } + } + over "base_link" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "joint_1" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) @@ -41,6 +51,8 @@ over "cobotta_pro_1300" ( over "J1" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "joint_2" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) @@ -62,6 +74,8 @@ over "cobotta_pro_1300" ( over "J2" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "joint_3" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) @@ -83,10 +97,14 @@ over "cobotta_pro_1300" ( over "J3" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "joint_4" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { + float physics:lowerLimit = -220 + float physics:upperLimit = 220 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 57.29578 float state:angular:physics:position = -0.0006828282 @@ -104,6 +122,8 @@ over "cobotta_pro_1300" ( over "J4" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "joint_5" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) @@ -125,6 +145,8 @@ over "cobotta_pro_1300" ( over "J5" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "joint_6" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) @@ -146,6 +168,8 @@ over "cobotta_pro_1300" ( over "onrobot_rg6_base_link" { + float3 physics:diagonalInertia = (0.001, 0.001, 0.001) + over "finger_joint" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) @@ -160,9 +184,14 @@ over "cobotta_pro_1300" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 50 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 7.581299e-9 float state:angular:physics:velocity = -7.553153e-8 @@ -172,9 +201,14 @@ over "cobotta_pro_1300" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 50 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = -7.859843e-9 float state:angular:physics:velocity = 7.8301575e-8 @@ -184,9 +218,14 @@ over "cobotta_pro_1300" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 50 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0.00012030155 float state:angular:physics:velocity = -0.0011995337 @@ -203,14 +242,20 @@ over "cobotta_pro_1300" ( over "left_outer_knuckle" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "left_inner_finger_joint" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:naturalFrequency = 50 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = -1.4611061e-10 float state:angular:physics:velocity = 0.0000036318731 @@ -227,14 +272,20 @@ over "cobotta_pro_1300" ( over "right_outer_knuckle" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "right_inner_finger_joint" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:naturalFrequency = 50 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 1.4329441e-8 float state:angular:physics:velocity = 0.0000013184534 @@ -251,6 +302,8 @@ over "cobotta_pro_1300" ( over "J6" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "collisions" { over "visuals_6" @@ -262,6 +315,8 @@ over "cobotta_pro_1300" ( over "left_inner_finger" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_2" @@ -273,6 +328,8 @@ over "cobotta_pro_1300" ( over "left_inner_knuckle" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_3" @@ -284,6 +341,8 @@ over "cobotta_pro_1300" ( over "right_inner_knuckle" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_3" @@ -295,6 +354,8 @@ over "cobotta_pro_1300" ( over "right_inner_finger" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_2" diff --git a/denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 098714ca85c653fe4c0740316f5fc650093f6850..77691846edb580deceaee7b2fcb8b72de630300d 100644 --- a/denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/denso_cobottapro900_cobotta_pro_900/.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": "2026-10-26T18:16:40", + "timestamp": "2026-11-02T23:07:25", "assets": [ { "asset": "cobotta_pro_900.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": "f7d0141b92cce5fe96ba4f048ab23adebb4017bb95c37d5aff581b5342318085" + "sha256": "343ebc46e8b672493adb5dd5e46624f780fcc4ea8bed7c73e6736e58a65d2ccd" } } diff --git a/denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8076d65a4413b30976bab266afbd3540debfd191..a90341f01954a4321ef6707fce5636f875e50707 100644 --- a/denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/denso_cobottapro900_cobotta_pro_900/.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": "2026-10-26T22:35:55", + "timestamp": "2026-11-02T23:07:26", "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/denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.packaging.bom.json b/denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.packaging.bom.json index 3f877af49c4fafd9de7fb00a8467cc38fa828726..430d34bebd303c1214becc1b540718f50a7b08de 100644 --- a/denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.packaging.bom.json +++ b/denso_cobottapro900_cobotta_pro_900/.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/denso_cobottapro900_cobotta_pro_900/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/denso_cobottapro900_cobotta_pro_900/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7767, + "size": 49425, "hash": { - "sha256-flat-1mb": "f5bfcfe9a41edc7c43bc896d680ffd0a393696b1f81162c8d17794d0bbf90f35", - "sha256": "1b0f97d6102121f0b4209f55ce2b60af52d0ae4f0c76c77133d3802062d9dbd2" + "sha256-flat-1mb": "0a4f834047dcd7425b62be9a4e812bebe2acec9be4d178ab8a99801d1861305c", + "sha256": "8451dd63bc4ae22a9642193a9aee18c8c9e6e22eb33bb239f9537f7f83d8e8bd" } }, { @@ -18,20 +18,12 @@ "sha256": "518b90b2045f09ae1cee08cdeb238609f45f3443695fff3a58fa05e995bfe18f" } }, - { - "relative_path": ".thumbs/cobotta_pro_900.thumb.usd", - "size": 6132, - "hash": { - "sha256-flat-1mb": "772474b941acee5361a490b81c3e47146479d25044ea5fbd697a1ff8952ed69b", - "sha256": "bec532c5b5803534126847bd2f0ee05c1afed1cac6ce41c9c0832ab8257d37bd" - } - }, { "relative_path": "cobotta_pro_900.usda", - "size": 18012, + "size": 83382, "hash": { - "sha256-flat-1mb": "2012d5e7ade26e5d1920c452369bc171337ed4bb91236286f697ce6f3faacd4f", - "sha256": "43cee23183d3215bc3882fba35ee6f95230081339cb097a8dc0ae7cde288f509" + "sha256-flat-1mb": "d71dfe923a77339d164a2308d34682455361354d958d0706ab16f099df239eed", + "sha256": "78dafc8d2599d2ffbcffb5b94031ffd3b56a93e524089bace3eaeb8563409004" } }, { @@ -133,18 +125,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 21401, + "size": 21414, "hash": { - "sha256-flat-1mb": "89fdfd4f1ff4e43e566fba097fa94f0196d895504dd7bc707f4781d2addb1697", - "sha256": "b1a343b92981e2737e72bd00f180ef924f90dc5063cbfb285e0f4be341909ab3" + "sha256-flat-1mb": "8984decac6d33351251315db43adb989f491fb566205f37b296a795b06dc1aad", + "sha256": "c122ac79198727dc48a217f974deb3ed2b03bbb0f150ce6604cf9ec8c0fa0082" } }, { "relative_path": "payloads/materials.usda", - "size": 7628, + "size": 9372, "hash": { - "sha256-flat-1mb": "9bb944fa1f6be3d4ae71e87f7a062f7b75e29f6497702f8a12a47a5de1f190a2", - "sha256": "9614724d33d644285d256eab8bdd155963eeeb467af891a219bc407ec7d5b3a6" + "sha256-flat-1mb": "b6c6664eb6b9c6f56fbb5c9ef0ca260a54bb5c28dfaae9ebaeca26e793463456", + "sha256": "3d350e9bc89e907c357d9ee3280780c412e9a863639e10c9e7d7420ac60bbad5" } }, { @@ -165,19 +157,19 @@ }, { "relative_path": "runnables/physics/newton.usda", - "size": 9811, + "size": 11575, "hash": { - "sha256-flat-1mb": "d339ad61aa339f9115ead525932838ee5b42b133e34135f577647fbcad51fb5a", - "sha256": "5bf9c2c3d249a8106fe62c6688a82c156dff7ab17f74cd99101a25cbbfbf3a6f" + "sha256-flat-1mb": "2db3f2430c5c3a4e17b0d980aa78bc4add8ae59493593a095e94759f95ac0653", + "sha256": "14dcd02c9b4e1b0c6d004f9073d9566bfdb04d463cc96cc0e9c561656d8300da" } }, { "relative_path": "runnables/physics/physx.usda", - "size": 10564, + "size": 12159, "hash": { - "sha256-flat-1mb": "871405ffd2f835ecc168fa8ba5bf208409b539d0c939871e76d4afa33d692d07", - "sha256": "119457d0136943d07e6c685450297b89c952ecd7ab6bcb9a9a07aee605093d7c" + "sha256-flat-1mb": "da81a7c7992d9f93968a6032af94cd8f895f32ae49cca50a7868f97bf48165e4", + "sha256": "cc68380efaddceccd5abd941cc067f368db3e09a71b89444530978e00f4b314c" } } ] -} +} \ No newline at end of file diff --git a/denso_cobottapro900_cobotta_pro_900/.simready/validation.json b/denso_cobottapro900_cobotta_pro_900/.simready/validation.json index 22ddc766c14fb050a865eeb7ee2c5b8afc840419..bc75ce3b43ab70760368c12c56235b79306f3b91 100644 --- a/denso_cobottapro900_cobotta_pro_900/.simready/validation.json +++ b/denso_cobottapro900_cobotta_pro_900/.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": "/.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": 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"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": true, + "status": "pass", + "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/denso_cobottapro900_cobotta_pro_900/.thumbs/cobotta_pro_900.thumb.usd b/denso_cobottapro900_cobotta_pro_900/.thumbs/cobotta_pro_900.thumb.usd deleted file mode 100644 index 3a52cd9b8d418a66e5c500aefacddcd2939ad992..0000000000000000000000000000000000000000 Binary files a/denso_cobottapro900_cobotta_pro_900/.thumbs/cobotta_pro_900.thumb.usd and /dev/null differ diff --git a/denso_cobottapro900_cobotta_pro_900/cobotta_pro_900.usda b/denso_cobottapro900_cobotta_pro_900/cobotta_pro_900.usda index 296c7055aa01462fdfabbb25ceff581fb724ddf6..897685aee0345a5e9f19929b2c7fd9b2705f1b88 100644 --- a/denso_cobottapro900_cobotta_pro_900/cobotta_pro_900.usda +++ b/denso_cobottapro900_cobotta_pro_900/cobotta_pro_900.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 = 1 + string provider = "simready.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/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 = 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/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 = 1 + string provider = "simready.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/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" = { @@ -298,6 +1246,9 @@ def Xform "cobotta_pro_900" ( , , ] + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) over "base_link" { diff --git a/denso_cobottapro900_cobotta_pro_900/com.nvidia.simready.packaging.json b/denso_cobottapro900_cobotta_pro_900/com.nvidia.simready.packaging.json index dc98cc6a9c660ee9c805bf16a660e320a9332012..140b9935b13c8812e7e2bd34bc974d569acd0e59 100644 --- a/denso_cobottapro900_cobotta_pro_900/com.nvidia.simready.packaging.json +++ b/denso_cobottapro900_cobotta_pro_900/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.denso_cobottapro900_cobotta_pro_900.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.denso_cobottapro900_cobotta_pro_900.3.0.0", "license": "unknown", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "a6d854bb69b09498bba04dc1381b3cac59a4498e6d4b46cbc60f5242202a0531" + "sha256": "1b4a2bc956145c8a7965dee59107aa4356a7565542dfd66bc13bd4a703d886d7" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "428cd29aa89eac4a7f13afec2829b66af37775d928328470596c816fb93db6be" + "sha256": "37184f7943fd817bb243c0acc84852718580f9430c2efd1503a9302a42b0e123" } }, { @@ -23,9 +23,9 @@ } ], "content_hash": { - "sha256": "4d36f439cc0fe2e052c716b4bee8bb2920e4a8993a4711dbb2b40bd0d810ae09" + "sha256": "343ebc46e8b672493adb5dd5e46624f780fcc4ea8bed7c73e6736e58a65d2ccd" }, "package_hash": { - "sha256": "2a85a1e884c36e7b313b24f3efe6aea74da977add9b72c325a55891f363f100f" + "sha256": "dced1d81023de2d0d2d2f062735248e1725d0b54fd524e3b689985d05d64484f" } -} +} \ No newline at end of file diff --git a/denso_cobottapro900_cobotta_pro_900/payloads/instances.usda b/denso_cobottapro900_cobotta_pro_900/payloads/instances.usda index 23c4f702632bca27a596f54609ea1a9c2c567da3..4d24c10ed3838ad86f97b782f00b2df650a651bb 100644 --- a/denso_cobottapro900_cobotta_pro_900/payloads/instances.usda +++ b/denso_cobottapro900_cobotta_pro_900/payloads/instances.usda @@ -45,7 +45,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -98,7 +98,7 @@ 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 } } @@ -204,7 +204,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -268,7 +268,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -293,7 +293,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -357,7 +357,7 @@ 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 } } @@ -435,7 +435,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -488,7 +488,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -541,7 +541,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -594,7 +594,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -647,7 +647,7 @@ 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/denso_cobottapro900_cobotta_pro_900/payloads/materials.usda b/denso_cobottapro900_cobotta_pro_900/payloads/materials.usda index 938cd6cc803772f55eab44161486929749b77b03..7cd7ed7a466531ef4f66925333c2b9752cad5a0c 100644 --- a/denso_cobottapro900_cobotta_pro_900/payloads/materials.usda +++ b/denso_cobottapro900_cobotta_pro_900/payloads/materials.usda @@ -22,6 +22,7 @@ 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" ) @@ -56,9 +57,18 @@ 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 "material_blinn20_1" @@ -72,6 +82,7 @@ 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" ) @@ -106,9 +117,18 @@ 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 "material_CCCCCC" @@ -122,6 +142,7 @@ 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" ) @@ -154,9 +175,18 @@ 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 "material_191919" @@ -170,6 +200,7 @@ 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" ) @@ -202,9 +233,18 @@ 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/denso_cobottapro900_cobotta_pro_900/runnables/physics/newton.usda b/denso_cobottapro900_cobotta_pro_900/runnables/physics/newton.usda index e62a1004457d0dbf2a6dbcabc05e19e0e2513882..9f2cbce19c98bc3bfb650e30884d46f080ea59ed 100644 --- a/denso_cobottapro900_cobotta_pro_900/runnables/physics/newton.usda +++ b/denso_cobottapro900_cobotta_pro_900/runnables/physics/newton.usda @@ -19,12 +19,15 @@ over "cobotta_pro_900" ( over "base_link" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "collisions" { over "visuals" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -42,12 +45,15 @@ over "cobotta_pro_900" ( over "J1" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "collisions" { over "visuals_1" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -66,12 +72,15 @@ over "cobotta_pro_900" ( over "J2" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "collisions" { over "visuals_2" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -89,12 +98,15 @@ over "cobotta_pro_900" ( over "J3" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "collisions" { over "visuals_3" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -107,17 +119,22 @@ over "cobotta_pro_900" ( float drive:angular:physics:stiffness = 39.2699 float newton:damping = 1.308997 float newton:velocityLimit = 57.29578 + float physics:lowerLimit = -220 + float physics:upperLimit = 220 } } over "J4" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "collisions" { over "visuals_4" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -135,12 +152,15 @@ over "cobotta_pro_900" ( over "J5" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "collisions" { over "visuals_5" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -158,12 +178,15 @@ over "cobotta_pro_900" ( over "J6" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "collisions" { over "visuals_6" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -171,12 +194,15 @@ over "cobotta_pro_900" ( over "onrobot_rg6_base_link" { + float3 physics:diagonalInertia = (0.001, 0.001, 0.001) + over "collisions" { over "collisions" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -233,12 +259,15 @@ over "cobotta_pro_900" ( over "left_outer_knuckle" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_1" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -259,12 +288,15 @@ over "cobotta_pro_900" ( over "left_inner_finger" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_2" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -272,12 +304,15 @@ over "cobotta_pro_900" ( over "left_inner_knuckle" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_3" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -285,12 +320,15 @@ over "cobotta_pro_900" ( over "right_inner_knuckle" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_3" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -298,12 +336,15 @@ over "cobotta_pro_900" ( over "right_outer_knuckle" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_1" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } @@ -324,12 +365,15 @@ over "cobotta_pro_900" ( over "right_inner_finger" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_2" ( prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { + uniform int newton:maxHullVertices = 64 uniform token physics:approximation = "convexHull" } } diff --git a/denso_cobottapro900_cobotta_pro_900/runnables/physics/physx.usda b/denso_cobottapro900_cobotta_pro_900/runnables/physics/physx.usda index 66f650440a1e9d2bde04fad0faf2665c6290b0a9..6330cb16a4be6b2ce3cf190d276ed5a14a86baa2 100644 --- a/denso_cobottapro900_cobotta_pro_900/runnables/physics/physx.usda +++ b/denso_cobottapro900_cobotta_pro_900/runnables/physics/physx.usda @@ -18,8 +18,18 @@ over "cobotta_pro_900" ( int physxArticulation:solverPositionIterationCount = 32 int physxArticulation:solverVelocityIterationCount = 16 + over "world" + { + over "joint_w" + { + bool physics:jointEnabled = 0 + } + } + over "base_link" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "joint_1" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) @@ -42,6 +52,8 @@ over "cobotta_pro_900" ( over "J1" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "joint_2" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) @@ -64,6 +76,8 @@ over "cobotta_pro_900" ( over "J2" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "joint_3" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) @@ -86,11 +100,15 @@ over "cobotta_pro_900" ( over "J3" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "joint_4" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { float drive:angular:physics:targetPosition = 0.0242966 + float physics:lowerLimit = -220 + float physics:upperLimit = 220 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 57.29578 float state:angular:physics:position = 0.0242966 @@ -108,6 +126,8 @@ over "cobotta_pro_900" ( over "J4" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "joint_5" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) @@ -130,6 +150,8 @@ over "cobotta_pro_900" ( over "J5" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "joint_6" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) @@ -152,6 +174,8 @@ over "cobotta_pro_900" ( over "onrobot_rg6_base_link" { + float3 physics:diagonalInertia = (0.001, 0.001, 0.001) + over "finger_joint" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) @@ -167,12 +191,14 @@ over "cobotta_pro_900" ( apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float drive:angular:physics:targetPosition = 7.8402614e-8 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 0.005 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 2500 + float physxMimicJoint:rotX:naturalFrequency = 50 float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 7.8402614e-8 @@ -183,12 +209,14 @@ over "cobotta_pro_900" ( apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float drive:angular:physics:targetPosition = 0.0000062076983 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 0.005 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 2500 + float physxMimicJoint:rotX:naturalFrequency = 50 float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0.0000062076983 @@ -199,12 +227,14 @@ over "cobotta_pro_900" ( apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float drive:angular:physics:targetPosition = 0.000039446593 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 0.005 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 2500 + float physxMimicJoint:rotX:naturalFrequency = 50 float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0.000039446593 @@ -222,16 +252,20 @@ over "cobotta_pro_900" ( over "left_outer_knuckle" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "left_inner_finger_joint" ( apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float drive:angular:physics:targetPosition = 0.0000044355143 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 0.005 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 + float physxMimicJoint:rotX:naturalFrequency = 50 float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0.0000044355143 @@ -249,16 +283,20 @@ over "cobotta_pro_900" ( over "right_outer_knuckle" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "right_inner_finger_joint" ( apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float drive:angular:physics:targetPosition = 0.0000024447927 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 0.005 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 + float physxMimicJoint:rotX:naturalFrequency = 50 float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0.0000024447927 @@ -276,6 +314,8 @@ over "cobotta_pro_900" ( over "J6" { + float3 physics:diagonalInertia = (0.01, 0.01, 0.01) + over "collisions" { over "visuals_6" @@ -287,6 +327,8 @@ over "cobotta_pro_900" ( over "left_inner_finger" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_2" @@ -298,6 +340,8 @@ over "cobotta_pro_900" ( over "left_inner_knuckle" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_3" @@ -309,6 +353,8 @@ over "cobotta_pro_900" ( over "right_inner_knuckle" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_3" @@ -320,6 +366,8 @@ over "cobotta_pro_900" ( over "right_inner_finger" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + over "collisions" { over "collisions_2" diff --git a/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 7e636c6a2e65b042e2b9903fa123fdb665de609a..fb4c2d171920b00b88580ee9b0c186e5c752dd21 100644 --- a/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_cr_50f_16b/.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": "2026-10-26T18:16:42", + "timestamp": "2026-11-02T23:07:27", "assets": [ { "asset": "cr_50f_16b.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": "feef97c89cc55c8cd6c6a7093658766611cd283ce4662757ee127bd3fb347fba" + "sha256": "b778801c1967f09ec146cbde6285685e7b40afb461ea00b67d84929f7ee1c2ba" } } diff --git a/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8076d65a4413b30976bab266afbd3540debfd191..69f0b99a1a1d270ed490b9a42fca1488195d40eb 100644 --- a/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_cr_50f_16b/.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": "2026-10-26T22:35:55", + "timestamp": "2026-11-02T23:07:29", "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/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.packaging.bom.json index 184d6cfeec01bf8b2b0c528f32197d06d02bb391..d438faa45db2570b8366ab2fc7c9e5dc3a2e19d1 100644 --- a/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_cr_50f_16b/.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/fanuc_cr_50f_16b/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_cr_50f_16b/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" } }, { @@ -18,20 +18,12 @@ "sha256": "6415736142cabb371f870439565e0a949ed295e7ead280a584e2eb0c88b3ab8f" } }, - { - "relative_path": ".thumbs/cr_50f_16b.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "efb3a8c97cd6ff4e979a79a66d6f398bbe149b24cb533283ff420d978266841d", - "sha256": "3955592ec4471412afa7b4986eb522673b7795a43e6bb12492a8eb1a09fafcbc" - } - }, { "relative_path": "cr_50f_16b.usda", - "size": 15136, + "size": 80682, "hash": { - "sha256-flat-1mb": "8c008b6102dc494a48331942c402fbaba8f41bd4c719d5591a7aea321f74b4f0", - "sha256": "e2017ef9440184e363e8be812f90303e838775460b554e9487cffe2b3b64f440" + "sha256-flat-1mb": "f7a70aac311a68d9648f101fa3d7fc3c6e9d47c56d4fd9837be511e118412712", + "sha256": "e00920cd6393a89480c43a63d68878cbd13bddc13a4603aceefd4ebdfe1e5589" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 117376, + "size": 117544, "hash": { - "sha256-flat-1mb": "1b156ee8550ab596e0b5d4ca81da43acb57446921eff5e4d84c9fd851a18ca44", - "sha256": "e35c0a8b1545075963ad2c4151801a407fce472ceb8cd7aafa7b54dbc4daebdb" + "sha256-flat-1mb": "4bd8bb8d20cc7bea85a8deb4c1c852fa2668ac299e2e5545caa6783f0a512353", + "sha256": "2cc7ef223902c60f7dadb7839a1088fb9e50a092fe713a6792087ed29ff9e609" } }, { @@ -189,10 +181,10 @@ }, { "relative_path": "runnables/physics/newton.usda", - "size": 2105, + "size": 2192, "hash": { - "sha256-flat-1mb": "df1fac4711c973d2672e0b90180385d1c4017df66bb5f1679ad11ff1bd9fe186", - "sha256": "2f47edd8dbde633d2b4531e34e2622353f5a7507d34d88c81108586db18257b5" + "sha256-flat-1mb": "a4a846099ab8395619aeb4c5fdbe52c20f9e7d3faa995e77c804878d14b0ac98", + "sha256": "08bf9e99acb6247953e966fd7674d6dce08aabcd41970a123322e81536e4229a" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_cr_50f_16b/.simready/validation.json b/fanuc_cr_50f_16b/.simready/validation.json index 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+ "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" 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"/.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/fanuc_cr_50f_16b/.thumbs/cr_50f_16b.thumb.usd b/fanuc_cr_50f_16b/.thumbs/cr_50f_16b.thumb.usd deleted file mode 100644 index cf81707b33b976fe7d0d5a272b84f2f942bbbe1d..0000000000000000000000000000000000000000 Binary files a/fanuc_cr_50f_16b/.thumbs/cr_50f_16b.thumb.usd and /dev/null differ diff --git a/fanuc_cr_50f_16b/com.nvidia.simready.packaging.json b/fanuc_cr_50f_16b/com.nvidia.simready.packaging.json index 893ee4671e1ff5b7b00cd66e336827daa8db7d89..ccd0e872f5da18fb4ae53198828f1346878ad034 100644 --- a/fanuc_cr_50f_16b/com.nvidia.simready.packaging.json +++ b/fanuc_cr_50f_16b/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_cr_50f_16b.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_cr_50f_16b.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "1ba42d44aa571b4bca5e7124241d741da6e0f7d92615940b18c2ac2822cc5ab3" + "sha256": "38f721b1dab581d1b545977b3a3cbadd5b76ea53684d759e6585bdd58de9e0a5" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "0653f7d4fd8d930a4659c8da91d5716dcbf47bc4665c91d6ba22c3fbca8193e9" + "sha256": "3b92ea7c7593fb169da8e148f04df6c8a9ae6509c15bc86606e7decda1fe132c" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "ae39139ce2e88adefacd4416c635564c5c50e2acc471959783cc991396c2149f" + "sha256": "b778801c1967f09ec146cbde6285685e7b40afb461ea00b67d84929f7ee1c2ba" }, "package_hash": { - "sha256": "d3f4bae6bad0ded2482b00f29a4bd3f8f7e57a2a5fcee4ffc4f5ee2dfe209825" + "sha256": "876b74c803bd08565306c8ca13625ed9ca4bf1392e95ae41c7f954a6db045f60" } } diff --git a/fanuc_cr_50f_16b/cr_50f_16b.usda b/fanuc_cr_50f_16b/cr_50f_16b.usda index e12b0defc4a18cbb63a2531fa3da801308f6f491..77cf2ff3165f38bb67b9025518622961075aa460 100644 --- a/fanuc_cr_50f_16b/cr_50f_16b.usda +++ b/fanuc_cr_50f_16b/cr_50f_16b.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/fanuc_cr_50f_16b/payloads/materials.usda b/fanuc_cr_50f_16b/payloads/materials.usda index 81e62fb6635fcdbc3aa25a460398e0a84188b06c..7988cccd88885c43e9d7a91741a839796209ad74 100644 --- a/fanuc_cr_50f_16b/payloads/materials.usda +++ b/fanuc_cr_50f_16b/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1271,7 +1271,7 @@ 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) @@ -1289,7 +1289,7 @@ 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" ) @@ -1430,7 +1430,7 @@ 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) @@ -1448,7 +1448,7 @@ 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" ) @@ -1589,7 +1589,7 @@ 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) @@ -1607,7 +1607,7 @@ 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" ) @@ -1748,7 +1748,7 @@ 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) @@ -1766,7 +1766,7 @@ 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" ) @@ -1907,7 +1907,7 @@ 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) @@ -1925,7 +1925,7 @@ 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" ) @@ -2066,7 +2066,7 @@ 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) @@ -2084,7 +2084,7 @@ 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" ) @@ -2225,7 +2225,7 @@ 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) @@ -2243,7 +2243,7 @@ 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" ) @@ -2384,7 +2384,7 @@ 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) @@ -2402,7 +2402,7 @@ 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" ) @@ -2543,7 +2543,7 @@ 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) @@ -2561,7 +2561,7 @@ 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" ) @@ -2702,7 +2702,7 @@ 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) @@ -2720,7 +2720,7 @@ 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" ) @@ -2861,7 +2861,7 @@ 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) @@ -2879,7 +2879,7 @@ 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" ) @@ -3020,7 +3020,7 @@ 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) @@ -3038,7 +3038,7 @@ 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" ) @@ -3179,7 +3179,7 @@ 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) @@ -3197,7 +3197,7 @@ 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" ) @@ -3338,7 +3338,7 @@ 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/fanuc_cr_50f_16b/runnables/physics/newton.usda b/fanuc_cr_50f_16b/runnables/physics/newton.usda index 2393fcbe22bceebdc53a1f7efba3812191ec68da..b4c0c86e68fb25c9acf0dddc8d460b8207a4f174 100644 --- a/fanuc_cr_50f_16b/runnables/physics/newton.usda +++ b/fanuc_cr_50f_16b/runnables/physics/newton.usda @@ -74,6 +74,8 @@ over "cr_50f_16b" float drive:angular:physics:stiffness = 28.125 float newton:damping = 0.9375 float newton:velocityLimit = 399.99997 + float physics:lowerLimit = -360 + float physics:upperLimit = 360 } } } diff --git a/fanuc_crx10ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_crx10ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 80efe19a33552fa69d0af571c97d0b63cac70962..433742465b9690fd507eb3ade780032a7ef6dfed 100644 --- a/fanuc_crx10ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_crx10ia/.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": "2026-10-26T18:16:44", + "timestamp": "2026-11-02T23:07:30", "assets": [ { "asset": "crx10ia.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": "2d407216627f3e21327dfc2b0f2fc1b9c2924242991f5b57f9fc8e022d7d44a7" + "sha256": "2ff525eb81e1cc34dcb3ae5b3eb683174898f45cd6a915a429d3400ebdbaf287" } } diff --git a/fanuc_crx10ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_crx10ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8076d65a4413b30976bab266afbd3540debfd191..f34aeda5720d85a674929ec030c4c4ebcd21fff6 100644 --- a/fanuc_crx10ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_crx10ia/.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": "2026-10-26T22:35:55", + "timestamp": "2026-11-02T23:07:32", "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/fanuc_crx10ia/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_crx10ia/.metadata/com.nvidia.simready.packaging.bom.json index 8327a5d18173fefdc002a50bd08e788228943ab1..4645e2004145121c31d0cb83299b5086fc367d0a 100644 --- a/fanuc_crx10ia/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_crx10ia/.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/fanuc_crx10ia/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_crx10ia/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49541, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "a04612471120c27a420cd98cb1c220e5b959ba24a7c0c1e50b8be05939847ef1", + "sha256": "8b3bf8857986c452997030572b90087308531fbda7f9c525d09088c94410d345" } }, { @@ -18,20 +18,12 @@ "sha256": "48a41943f1ebb4d6ca20ca308c12c5036e1c3adcf3ce9ae4d47424ccc0fea8fa" } }, - { - "relative_path": ".thumbs/crx10ia.thumb.usd", - "size": 6124, - "hash": { - "sha256-flat-1mb": "e58948b4a677e5e21c44cc2ba882c1fb56baae808f632d21461358dff8a48cc5", - "sha256": "f14e68a6759c537a739eba35eee65c76b2b6c535e911568742634e80e1e17ddd" - } - }, { "relative_path": "crx10ia.usda", - "size": 15985, + "size": 81668, "hash": { - "sha256-flat-1mb": "b60e752964ec585dcf53651fcaa4668377bac9000e5a4ca7aecbd2c6954c2532", - "sha256": "263a3e2fc8d31f930d8410afe9a5bc149370743993a3f87cfdb836dff51baede" + "sha256-flat-1mb": "5b5631d97fad0736e39551987e4005f800081894dedb4e5647990b2eefc66c54", + "sha256": "f9adb46ec7b828ace051df86c5f6ba2e791d11512f0da8d9b8363f3adec63f91" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 44756, + "size": 44820, "hash": { - "sha256-flat-1mb": "92258cec3cfb43a03c14ff8acdafde103ab88d41e9a6ecb6343a3348898a1cb5", - "sha256": "8f862063e33c7676f75af7bbf9a8b916e6c93e199f4e92a1f297243e7c468b4c" + "sha256-flat-1mb": "fbae58b6d10f89497a9e189e03f27555920f50fcccce259fde2352a1e98138e7", + "sha256": "f01b2367a21c600fa26781f53c24345b86a8a66f0f77088736f860f0e69f8ce0" } }, { @@ -189,10 +181,10 @@ }, { "relative_path": "runnables/physics/newton.usda", - "size": 4868, + "size": 5046, "hash": { - "sha256-flat-1mb": "4a4a0eb95b3447c74c0436fc06b261d7557894f23856bb165bc428142817dfb9", - "sha256": "b8b1e77bbf64e30f53bd4595814c0025c2e0e26ea1eb6a526839fe9e4709219a" + "sha256-flat-1mb": "a2fc3550a810a7d62c4fef0ffd4d6631448553793e6e914e2bd0713a94c012dd", + "sha256": "1d535a15846f4902162f9bb0f90382aec3465f49d794d57cda5639c7f4e0709e" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_crx10ia/.simready/validation.json b/fanuc_crx10ia/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..bfb8174afb5989dd7dc42470c091ab65dd5dae8a 100644 --- a/fanuc_crx10ia/.simready/validation.json +++ b/fanuc_crx10ia/.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 +218,959 @@ } } } - } + }, + "runtime_testing": { + "tested_features": { 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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" + } + } + } + } + }, + "revision_of": [ + "simready.hf.FANUC-CORPORATION.SimReady-Assets.crx10ia.2026.10.19_00" + ] } } diff --git a/fanuc_crx10ia/.thumbs/crx10ia.thumb.usd b/fanuc_crx10ia/.thumbs/crx10ia.thumb.usd deleted file mode 100644 index d6b55c9b8bc097e4b871f6ca0c398e66ad738ec4..0000000000000000000000000000000000000000 Binary files a/fanuc_crx10ia/.thumbs/crx10ia.thumb.usd and /dev/null differ diff --git a/fanuc_crx10ia/com.nvidia.simready.packaging.json b/fanuc_crx10ia/com.nvidia.simready.packaging.json index a700781942b47d0d15781713acf0b23844a11bd4..1a175446efe5ba2ec9f124b8ddeda4a51acae3ae 100644 --- a/fanuc_crx10ia/com.nvidia.simready.packaging.json +++ b/fanuc_crx10ia/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx10ia.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx10ia.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "bbbb81c8b059406f73c143011790cde98807e20a16936b468f40038a42d87426" + "sha256": "269b22de1abb6cf2656bf9ac99680d1b12a62054f8ebadb80db7e0756d6fc01e" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "296ef4381c7efc85e3ed9ad499bd718c2af15d0bffc09e4cbd52fe33971f6670" + "sha256": "d6d7484a6bc145afbcfdf9ec2269f1ccac14fa6332ebeaca2743d3ed5381bae2" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "4f23d8e2d70e1f2820478969ac4864f7c8e150c65eb0e87b89a3c96c0b936abc" + "sha256": "2ff525eb81e1cc34dcb3ae5b3eb683174898f45cd6a915a429d3400ebdbaf287" }, "package_hash": { - "sha256": "1849bbf272ecb7cf48bb3d342adc69f375b4d2ad917384366d0e9b1b0454f6e5" + "sha256": "1cdf2477ec16641912897866a187bdc8874dc5c1ffebc636a3a0dc9c393d8eb9" } } diff --git a/fanuc_crx10ia/crx10ia.usda b/fanuc_crx10ia/crx10ia.usda index 703b9435b975507f691b3c07d10c395630c914b0..2bc61c2365159cd1bd0d9458fbff1fdd1ae0830b 100644 --- a/fanuc_crx10ia/crx10ia.usda +++ b/fanuc_crx10ia/crx10ia.usda @@ -21,11 +21,964 @@ } } } + string[] revision_of = [ + "simready.hf.FANUC-CORPORATION.SimReady-Assets.crx10ia.2026.10.19_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/fanuc_crx10ia/payloads/materials.usda b/fanuc_crx10ia/payloads/materials.usda index 5beae3c987ededf15decda2ce4c9587f87e53dda..3e812aac30b639b11a902ceecc3fb300f1ef2fb2 100644 --- a/fanuc_crx10ia/payloads/materials.usda +++ b/fanuc_crx10ia/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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/fanuc_crx10ia/runnables/physics/newton.usda b/fanuc_crx10ia/runnables/physics/newton.usda index 88f5f0182f5ef9f6521ce2da7f364f3f8c6a54b4..fe7ad5575892c6a3efcedf504c38876348198733 100644 --- a/fanuc_crx10ia/runnables/physics/newton.usda +++ b/fanuc_crx10ia/runnables/physics/newton.usda @@ -134,6 +134,8 @@ over "crx10ia" float drive:angular:physics:stiffness = 125 float newton:damping = 4.166667 float newton:velocityLimit = 120 + float physics:lowerLimit = -179.9 + float physics:upperLimit = 179.9 } over "J2" ( @@ -154,6 +156,8 @@ over "crx10ia" float drive:angular:physics:stiffness = 166.6667 float newton:damping = 1.388889 float newton:velocityLimit = 180 + float physics:lowerLimit = -180 + float physics:upperLimit = 180 } over "J4" ( diff --git a/fanuc_crx10ia_l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_crx10ia_l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 4fea27dabe2eca89a510bd106c03545acb469009..2e9c056f1fc72f88064e8cdc54307ded99adfd4b 100644 --- a/fanuc_crx10ia_l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_crx10ia_l/.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": "2026-10-26T18:16:47", + "timestamp": "2026-11-02T23:07:33", "assets": [ { "asset": "crx10ia_l.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": "def543ccb68fb809e5e2150a89f093bd80b8d1de0feab23845aecf3c0d6ce7b2" + "sha256": "b1fbbeb5c4e05838bb4387b07ec74d9fb3b9e33710a664f6ea1d86d3f89633fd" } } diff --git a/fanuc_crx10ia_l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_crx10ia_l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8076d65a4413b30976bab266afbd3540debfd191..076f20026ee526de5635e01ff467cae63374e2c5 100644 --- a/fanuc_crx10ia_l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_crx10ia_l/.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": "2026-10-26T22:35:55", + "timestamp": "2026-11-02T23:07:34", "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/fanuc_crx10ia_l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_crx10ia_l/.metadata/com.nvidia.simready.packaging.bom.json index 7b1e394945306ff21d10ca5c63f81bde5be5753e..760985ba58ca064761e69f1ee7cf3c10faa8dbae 100644 --- a/fanuc_crx10ia_l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_crx10ia_l/.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/fanuc_crx10ia_l/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_crx10ia_l/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49543, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "5cc6d80949108bfb78244999fe6ca3fb21d0a5742b6aeff454d716f31104935a", + "sha256": "02ae5d9863ad8c28f1165f4a663404ad92989f5cdac7f8d7d9a155524b879526" } }, { @@ -18,20 +18,12 @@ "sha256": "0648e6fecfb3c1352935a9e89d9814629fe3d41ce4f1250441d3e08d189e7744" } }, - { - "relative_path": ".thumbs/crx10ia_l.thumb.usd", - "size": 6126, - "hash": { - "sha256-flat-1mb": "5d893c1af0910fac00abd12866fc7ef46aacf128e3670f8c57cb30507c0b94e3", - "sha256": "11809fea8e001680d1a2f764287ce6e98880816686e5bdcc0191424f2e66ac00" - } - }, { "relative_path": "crx10ia_l.usda", - "size": 16001, + "size": 81686, "hash": { - "sha256-flat-1mb": "e73db4866a4e8617e79c5f63b521dee302cb9303efc4fd814e2a6b333ac3d0c7", - "sha256": "d51995eeb54db779b58e81bcde03ad4b80c45bade172bd86f88f032b526454d0" + "sha256-flat-1mb": "a06734ff3b2732368dbc00500820d919b325be005ff516e4c2c31b69f80a94c5", + "sha256": "ff720de36d8e383c825ff293d88eb14c7a9107d47df77fd8a380f3b22a4058d1" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 33678, + "size": 33726, "hash": { - "sha256-flat-1mb": "e24bcee25768cf6892e81f3a2e72e9485425d709d49b85eba53db60debbaf42f", - "sha256": "8dc709a8b41eb99bce005fe0581bc52eb1e5b01872f508a0d982f1c4060f3827" + "sha256-flat-1mb": "85ee0a40cc21cb847baed23ca90b6b7bce1a7629bffe583d8d059ebc49578922", + "sha256": "11cdba255cc4757e1f5b33c8dda4ca8ec1e64acacab8cb4dffdd188cecf3cc8e" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_crx10ia_l/.simready/validation.json b/fanuc_crx10ia_l/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..691358404b688418189d34890534791713cfa15b 100644 --- a/fanuc_crx10ia_l/.simready/validation.json +++ b/fanuc_crx10ia_l/.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 +218,959 @@ } } } - } + }, + "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": 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"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" + } + } + } + } + }, + "revision_of": [ + "simready.hf.FANUC-CORPORATION.SimReady-Assets.crx10ia_l.2026.10.19_00" + ] } } diff --git a/fanuc_crx10ia_l/.thumbs/crx10ia_l.thumb.usd b/fanuc_crx10ia_l/.thumbs/crx10ia_l.thumb.usd deleted file mode 100644 index 960fe3c86a229b6916098c2a3a672d25b9b8b1b8..0000000000000000000000000000000000000000 Binary files a/fanuc_crx10ia_l/.thumbs/crx10ia_l.thumb.usd and /dev/null differ diff --git a/fanuc_crx10ia_l/com.nvidia.simready.packaging.json b/fanuc_crx10ia_l/com.nvidia.simready.packaging.json index 4b040acf9d01dc4293c533f6ed7029ddbab50e88..205e12e18479a5adc98411d181ec99662ea082ee 100644 --- a/fanuc_crx10ia_l/com.nvidia.simready.packaging.json +++ b/fanuc_crx10ia_l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx10ia_l.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx10ia_l.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "8466a16e17ec468b80460cd985b6ea93a88941e3fce2ad3065c9ff5dc8599a3f" + "sha256": "6e544c7050bf1aae938168b940cf73ac07535d0e3edf7075b5c3790653b4d5b2" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "63d37845438a519aebb9c402a386c8c337b2cb726ae85043a249d7d9cf8476dc" + "sha256": "e18c1a68eb5c3f3f93f930d958ff3a1177b91670a3ca9209f916a8aa5170f15d" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "726b90d0eed5867d271859507653c3b885442561c2b531906b9199ecb62457e9" + "sha256": "b1fbbeb5c4e05838bb4387b07ec74d9fb3b9e33710a664f6ea1d86d3f89633fd" }, "package_hash": { - "sha256": "7231ab4b9b1148a10be14c90f6204a85c4ae0b6bdb73ed067cea67a2e05bde2a" + "sha256": "046216e3745d25719befcfde9b22daf5f1a7df72d4f19eb250e6870334646d4f" } } diff --git a/fanuc_crx10ia_l/crx10ia_l.usda b/fanuc_crx10ia_l/crx10ia_l.usda index f0ef51b9f330d50a79cb47b468bc46b4f767e8e8..ac1eda7b3704bf5adde6efcec4326fa8e9c34091 100644 --- a/fanuc_crx10ia_l/crx10ia_l.usda +++ b/fanuc_crx10ia_l/crx10ia_l.usda @@ -21,11 +21,964 @@ } } } + string[] revision_of = [ + "simready.hf.FANUC-CORPORATION.SimReady-Assets.crx10ia_l.2026.10.19_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/fanuc_crx10ia_l/payloads/materials.usda b/fanuc_crx10ia_l/payloads/materials.usda index f9ac7740f232fa0fdb96649cfa4a5c9af269d803..d6a3e06679fffc4e2cd9a3e7b134c2f74978db6c 100644 --- a/fanuc_crx10ia_l/payloads/materials.usda +++ b/fanuc_crx10ia_l/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 091496bf2af017fafce0036ba82aca3d7b36a799..ce1df03fa5116f6d50bf302f1d00ee35e1072b34 100644 --- a/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_crx10ia_lp/.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": "2026-10-26T18:16:49", + "timestamp": "2026-11-02T23:07:35", "assets": [ { "asset": "crx10ia_lp.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": "79e83f576699ebcc68673dbf158ebda6cb9023624a8617729fdc7e3134f9fd54" + "sha256": "54a620f2c81626f860e07d0abe842ea2de9e72adadfff450d598bf651f3e70e0" } } diff --git a/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8076d65a4413b30976bab266afbd3540debfd191..25218bd5c293d899a63889fe83111ef7f29c2a03 100644 --- a/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_crx10ia_lp/.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": "2026-10-26T22:35:55", + "timestamp": "2026-11-02T23:07:37", "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/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.packaging.bom.json index 0186978ce51826fe04a4c7f0b61b9acb5c61a65c..1f43294088a282f15864d69fc6e3d48aacfe1e37 100644 --- a/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_crx10ia_lp/.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/fanuc_crx10ia_lp/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_crx10ia_lp/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49544, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "b931d056494c8b3b67ac5e0c06c129ba7e70bb5a848c7131fae0c81a8609754a", + "sha256": "5fc0401ad78fe3a8e77f9a9d8f3f3ba47d8a0edeb74bc269a5ed431aebd3bfec" } }, { @@ -18,20 +18,12 @@ "sha256": "6c3fd4e0e417889d32a78ea091dc3b99a2ea179ba71b07b4c934ebc65c4404b1" } }, - { - "relative_path": ".thumbs/crx10ia_lp.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "280d00c24f054ee6529ee3a0a8033ef26641b6453dc63d9f1d00073ddbd1604e", - "sha256": "e4c36f952f777800f1e50e22eb38aac57436e181ebf1787e29900ede05c1c178" - } - }, { "relative_path": "crx10ia_lp.usda", - "size": 15135, + "size": 80821, "hash": { - "sha256-flat-1mb": "f68ec0b6392f51f43a6d02fe81f7c4cd603a353586a774562c707e593ceaff67", - "sha256": "e19f70d2a8e67882652db7aaa9ee29770190c4b7e255bc4bf60964fee105500d" + "sha256-flat-1mb": "f0191e2aa873b9e56a95d7e409a7e0094a35b25539ba43ea55f0a64d7a443675", + "sha256": "936b01623f94d7bed1a43b406c542e0d2598953045c45a6b4daa3b6c96888994" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 27992, + "size": 28032, "hash": { - "sha256-flat-1mb": "e387427e87f2a7febf50222723bc2cd0eaf0126797cdc21f283db72003c9f5da", - "sha256": "1e285b38356575746dc2d97691c6906e9fde22eeb93b3d2bc15ca2f0426649aa" + "sha256-flat-1mb": "fbda63e90a0a6f797fef93687c88744ddd98f6f848e739f42a9fff240b1c7934", + "sha256": "e79ba3e8faa9fb485c8283e84108c6a9c0c7376f43e0f695bf24ac93db6f25f7" } }, { @@ -189,10 +181,10 @@ }, { "relative_path": "runnables/physics/newton.usda", - "size": 4884, + "size": 4972, "hash": { - "sha256-flat-1mb": "413f2e54b59174b588b534f04d2eb8866870b4f3d40608e26cbce24042a5aaec", - "sha256": "c57e71f85f9465409959ab13d3f5d87af37378607a9217d468c59106db2b9fb9" + "sha256-flat-1mb": "cd8791af1e603ef921e4259807447b780c2a4ab378d50d0cf371061055a4c08c", + "sha256": "66c0b7321b591153822943b3b94c113f28dc03b25b902a7f7d058af801bd89a7" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_crx10ia_lp/.simready/validation.json b/fanuc_crx10ia_lp/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..ff39aa94532d2bed93bb80b66c4b56a62ce83980 100644 --- a/fanuc_crx10ia_lp/.simready/validation.json +++ b/fanuc_crx10ia_lp/.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 +218,959 @@ } } } - } + }, + "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": 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a/fanuc_crx10ia_lp/.thumbs/crx10ia_lp.thumb.usd and /dev/null differ diff --git a/fanuc_crx10ia_lp/com.nvidia.simready.packaging.json b/fanuc_crx10ia_lp/com.nvidia.simready.packaging.json index 8f6e894b9520284cb0a4fb91973f422606821a7e..206ee979f9794f335d5a0fa86fda911e7079e3d0 100644 --- a/fanuc_crx10ia_lp/com.nvidia.simready.packaging.json +++ b/fanuc_crx10ia_lp/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx10ia_lp.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx10ia_lp.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "2f9fc7f7631fe9ca0310493c245f10767c695f6f8a372277fbdf5eb75822ef96" + "sha256": "fcce2ff5f4c393f8a16d1793bc7536e5609573345e89286932ec43e10fe15e73" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "c114ef51951c15a0f39741119c940efb9f6a8b64032092106f561f7ca7314d52" + "sha256": "a0066213e94b2ba3b538f7b1571f574bf0b130d0f6db01e0d943647141c09325" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "f257f725b76ded320ffade7590f7e3a63c5321328d44176309a57d24f9e3d6fa" + "sha256": "54a620f2c81626f860e07d0abe842ea2de9e72adadfff450d598bf651f3e70e0" }, "package_hash": { - "sha256": "5eeee3810687e6f956d55b9165bee4dae0c02937a40d4b59e5f2288fa31eec2b" + "sha256": "88600ca019be125d3ad555dbdafdcdf59ab91563fb3538d3efe4aa6bfc5dd144" } } diff --git a/fanuc_crx10ia_lp/crx10ia_lp.usda b/fanuc_crx10ia_lp/crx10ia_lp.usda index a4f85fa06c78968934482885093e561305d3fa3a..305e3c0797939bed9cb95acb54f8a9e6e8672d8e 100644 --- a/fanuc_crx10ia_lp/crx10ia_lp.usda +++ b/fanuc_crx10ia_lp/crx10ia_lp.usda @@ -21,11 +21,964 @@ } } } + string[] revision_of = [ + "simready.hf.FANUC-CORPORATION.SimReady-Assets.crx10ia_lp.2026.10.19_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/fanuc_crx10ia_lp/payloads/materials.usda b/fanuc_crx10ia_lp/payloads/materials.usda index 4ba553016e0aa61230ebe6f4a0d69c4f5b1614ab..be76c3acb62fbf6a9970ef2ac0640ff92a01a6f0 100644 --- a/fanuc_crx10ia_lp/payloads/materials.usda +++ b/fanuc_crx10ia_lp/payloads/materials.usda @@ -16,7 +16,7 @@ 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) @@ -176,7 +176,7 @@ 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" ) @@ -317,7 +317,7 @@ 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) @@ -335,7 +335,7 @@ 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" ) @@ -476,7 +476,7 @@ 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) @@ -494,7 +494,7 @@ 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" ) @@ -635,7 +635,7 @@ 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) @@ -653,7 +653,7 @@ 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" ) @@ -794,7 +794,7 @@ 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/fanuc_crx10ia_lp/runnables/physics/newton.usda b/fanuc_crx10ia_lp/runnables/physics/newton.usda index d49fa0ab13cd7c88e8d4d1b566175799df49ed94..7a004d9a093c15cfae6e603f45c859bfe93b366f 100644 --- a/fanuc_crx10ia_lp/runnables/physics/newton.usda +++ b/fanuc_crx10ia_lp/runnables/physics/newton.usda @@ -151,9 +151,11 @@ over "crx10ia_lp" ) { float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 83.3333 + float drive:angular:physics:stiffness = 166.6667 float newton:damping = 2.777778 float newton:velocityLimit = 180 + float physics:lowerLimit = -180 + float physics:upperLimit = 180 } over "J4" ( diff --git a/fanuc_crx20ia_l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_crx20ia_l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 8b4f37cd7e88e4171908e2469247bd4c23045514..c2a09a290e94dd50268c4fea90e4581520a95375 100644 --- a/fanuc_crx20ia_l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_crx20ia_l/.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": "2026-10-26T18:16:51", + "timestamp": "2026-11-02T23:07:38", "assets": [ { "asset": "crx20ia_l.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": "cb78c8d859d1489cdb0087597adbf9ce06f3840883852492481834864b46c26f" + "sha256": "d7e70e3a9421c3bdebee155375fec31174fe7ac564ae2bb10fbc55d97612c23f" } } diff --git a/fanuc_crx20ia_l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_crx20ia_l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8076d65a4413b30976bab266afbd3540debfd191..b7c4a171afc604d7cb2d77a51997fd00ce0b1d93 100644 --- a/fanuc_crx20ia_l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_crx20ia_l/.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": "2026-10-26T22:35:55", + "timestamp": "2026-11-02T23:07:40", "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/fanuc_crx20ia_l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_crx20ia_l/.metadata/com.nvidia.simready.packaging.bom.json index b89af4ff6651df95729861c3ead4a21ba6ff0e29..ba9d55395f041795781ac3ddbcd5d1ae6b6fe03c 100644 --- a/fanuc_crx20ia_l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_crx20ia_l/.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/fanuc_crx20ia_l/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_crx20ia_l/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49543, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "9e0574529594afaf236fdbd58d6ab5c7b5315b49c8ef03ec2a8a5afb506f0a13", + "sha256": "2a890a510ec66b027fff7b4719306c712d33f11fb6b62e4fa6505db26125f8e0" } }, { @@ -18,20 +18,12 @@ "sha256": "611532a2f6cf8c522cef5d96954c47eee01438eddd88d725dc1edd627d5c81b5" } }, - { - "relative_path": ".thumbs/crx20ia_l.thumb.usd", - "size": 6126, - "hash": { - "sha256-flat-1mb": "051ec76461e65d46a657a273dae2a37cdbe7db66856df0a44ce9401e907c475b", - "sha256": "ab194d0f6dbdd68bdab37c70789a6ad5ee1d9f27cf573f6f34d440e09be4a7a1" - } - }, { "relative_path": "crx20ia_l.usda", - "size": 16000, + "size": 81685, "hash": { - "sha256-flat-1mb": 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"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" + } + } + } + } + }, + "revision_of": [ + "simready.hf.FANUC-CORPORATION.SimReady-Assets.crx20ia_l.2026.10.19_00" + ] } } diff --git a/fanuc_crx20ia_l/.thumbs/crx20ia_l.thumb.usd b/fanuc_crx20ia_l/.thumbs/crx20ia_l.thumb.usd deleted file mode 100644 index 6ab114d312082dd1f936dad26dc6f26aff305cae..0000000000000000000000000000000000000000 Binary files a/fanuc_crx20ia_l/.thumbs/crx20ia_l.thumb.usd and /dev/null differ diff --git a/fanuc_crx20ia_l/com.nvidia.simready.packaging.json b/fanuc_crx20ia_l/com.nvidia.simready.packaging.json index a56a26de6063664d3aadbdca5a5565dbc5bb4c96..2b9192dcf61a72910f82cb633a7267eb15592c96 100644 --- a/fanuc_crx20ia_l/com.nvidia.simready.packaging.json +++ b/fanuc_crx20ia_l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx20ia_l.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx20ia_l.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "660a95a0202f1b3b7bf64e1c444de2fe2a78cfd96f827256f3a424c3ee9f9a43" + "sha256": "d3a813127146de1ad7477b2ffd7fa2cfeb1a991dd8a4675cb6e84ac90696f459" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "673edaacfcb5971a62273b3cb952202229ec0ff45390111d52f3aadebae1864d" + "sha256": "986fdc7f73a994beae9610ec634a765da00ecf937d4613630862084b88a4a09d" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "e18c922a8c8878e318bee65832009afaebf2ee9fb3b9669cb4bf2c44be14a93f" + "sha256": "d7e70e3a9421c3bdebee155375fec31174fe7ac564ae2bb10fbc55d97612c23f" }, "package_hash": { - "sha256": "750e0370f4ac08d0491faf153a2b6cf660346b4ce58f163a296f02f1b66f49ad" + "sha256": "bf5c0637a9144b4e9a78b36a58cbfd297ed8ab8da2a39a67b478657597f516e7" } } diff --git a/fanuc_crx20ia_l/crx20ia_l.usda b/fanuc_crx20ia_l/crx20ia_l.usda index aa13549a782fc78a2bdfe319274ed36791d5fa5a..cdcdeddd58fe676b625e6787766904dcdf308202 100644 --- a/fanuc_crx20ia_l/crx20ia_l.usda +++ b/fanuc_crx20ia_l/crx20ia_l.usda @@ -21,11 +21,964 @@ } } } + string[] revision_of = [ + "simready.hf.FANUC-CORPORATION.SimReady-Assets.crx20ia_l.2026.10.19_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/fanuc_crx20ia_l/payloads/materials.usda b/fanuc_crx20ia_l/payloads/materials.usda index 31337096bb04b82dbb43e2f53a7208687e5065f1..87a57d0027bacf5532004fad1fe12c3edf9a4861 100644 --- a/fanuc_crx20ia_l/payloads/materials.usda +++ b/fanuc_crx20ia_l/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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) @@ -1447,7 +1447,7 @@ 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" ) @@ -1588,7 +1588,7 @@ 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/fanuc_crx20ia_l/runnables/physics/newton.usda b/fanuc_crx20ia_l/runnables/physics/newton.usda index 8d10a79368dc0385fd2219a869f50a576c6d9bdf..389ad75dc790f98ead0755b3b71b3f69312ce390 100644 --- a/fanuc_crx20ia_l/runnables/physics/newton.usda +++ b/fanuc_crx20ia_l/runnables/physics/newton.usda @@ -151,9 +151,11 @@ over "crx20ia_l" ) { float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 109.375 + float drive:angular:physics:stiffness = 140 float newton:damping = 3.645833 float newton:velocityLimit = 120 + float physics:lowerLimit = -180 + float physics:upperLimit = 180 } over "J4" ( diff --git a/fanuc_crx30ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_crx30ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 0d471bb2cee8c39669e3deead187820dad5877fe..a53686ed8b911870cbf4a9d13d517fe2d207cae9 100644 --- a/fanuc_crx30ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_crx30ia/.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": "2026-10-26T18:16:53", + "timestamp": "2026-11-02T23:07:41", "assets": [ { "asset": "crx30ia.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": "4b5c6299868e032a5d0fa9c9a2d5f6708e68d64f2ab4622eaa69ca078a0e3e08" + "sha256": "4b84d31a8bf32b4e76534fe2d6b456afb6d8822f9e19a4bd745731fa28c97fbf" } } diff --git a/fanuc_crx30ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_crx30ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..407caf2a832fcc8d0d42f1a4eee1237e209afb43 100644 --- a/fanuc_crx30ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_crx30ia/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:07:42", "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/fanuc_crx30ia/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_crx30ia/.metadata/com.nvidia.simready.packaging.bom.json index 0a1d38117eda199721219fea824df644be05c5e8..ff71ef1b87e9c98a1bdcac170fa2002eb3284d48 100644 --- a/fanuc_crx30ia/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_crx30ia/.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/fanuc_crx30ia/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_crx30ia/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49541, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "47ed428ec90eb5e0aefb4fa1fe030228f9a2d819a55993339106c29330365101", + "sha256": "da5c794a6383c67a1a4b425094ce8b40e7b7fdcceedc069c54da8cfb39bf5baf" } }, { @@ -18,20 +18,12 @@ "sha256": "e20e2f9008cf07ae20edf5a0b63bb9f532aaf4d757b00c0074f646aff347dbc1" } }, - { - "relative_path": ".thumbs/crx30ia.thumb.usd", - "size": 6124, - "hash": { - "sha256-flat-1mb": "102ef48dae883b8968c78bba2cae76e90f783439d8b64a4be0ea62f129121105", - "sha256": "d747af8edab33460209c3e5052aa92540a6fd97da67b1c15b8c3cb29c335f3cb" - } - }, { "relative_path": "crx30ia.usda", - "size": 15985, + "size": 81668, "hash": { - "sha256-flat-1mb": "29633d3d2455476401d3e611c78fd00649114409720eea90a438deb83c4bbe9c", - "sha256": "1c505f5d7d348a7ad1c3f9621856261f89a78fc1599277c5b2915e43d305555c" + "sha256-flat-1mb": "e5a07377ab19b8c4c69732de2504ffeef9f36e0b5e64d778622ac6505b05bfdc", + "sha256": "8e1f27ac26c345d492a4e613ca406590c92976d371af08e0fb97fd0d2319a615" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 39313, + "size": 39369, "hash": { - "sha256-flat-1mb": "96df701ccfbd157a49ff86f8bfa2f66997b7b7a48b6a5fd8fffa3b858121b525", - "sha256": "f4f01b968a0afc721fd973984264fe071cd39435d60a6f4a73dc1db63e15b2e8" + "sha256-flat-1mb": "a0e455f066fd10e58dcd203e5c5843db7cb3f85fef73e263b0e02d358a24748f", + "sha256": "7ab4441fff2de78599ca628454b8e588c6456ed6b290da604f9a0f16b4b2d32b" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_crx30ia/.simready/validation.json b/fanuc_crx30ia/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..e8bb7610ce63b731e6ba0485ee911c623feb9fe7 100644 --- a/fanuc_crx30ia/.simready/validation.json +++ b/fanuc_crx30ia/.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 +218,959 @@ } } } - } + }, + "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": 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"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" + } + } + } + } + }, + "revision_of": [ + "simready.hf.FANUC-CORPORATION.SimReady-Assets.crx30ia.2026.10.19_00" + ] } } diff --git a/fanuc_crx30ia/.thumbs/crx30ia.thumb.usd b/fanuc_crx30ia/.thumbs/crx30ia.thumb.usd deleted file mode 100644 index e0d3da045c8b214558757bdf78d59303edc4f2bf..0000000000000000000000000000000000000000 Binary files a/fanuc_crx30ia/.thumbs/crx30ia.thumb.usd and /dev/null differ diff --git a/fanuc_crx30ia/com.nvidia.simready.packaging.json b/fanuc_crx30ia/com.nvidia.simready.packaging.json index 15bfa64e4762a44f41b2858119037a4a7b0261dd..33dcb2150657090543322090714a6c918594014a 100644 --- a/fanuc_crx30ia/com.nvidia.simready.packaging.json +++ b/fanuc_crx30ia/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx30ia.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx30ia.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "78aa52b10d1a8e1f2e85b555f44722774fe6e1dd56569383e19ad81fd38c6a2e" + "sha256": "9677ffa00d0210b6656c3b8a021eaa0d717eb931d982e54dd6cc553e2b2de28c" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "a419c0d613ce6e3236d021044d45ff778d48cd77da9510e7f4a41d7aad37efcb" + "sha256": "99f427527ea31eb8ed0891748fabc1e7ad94ccdcf6a7f50c57e2bb2d3028b73b" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "e489297b70ffdb7a1cdc7a8033f0c6fd46eebdf2a0cc4434fe22dc001225da27" + "sha256": "4b84d31a8bf32b4e76534fe2d6b456afb6d8822f9e19a4bd745731fa28c97fbf" }, "package_hash": { - "sha256": "3b4fac0a55b33449b14821a9d1c4dc687de4a0350a0bde0bf042bb1e8987cae2" + "sha256": "9f9046b80ee30a44e94c683a0e129bbd5607fc6893c4752499ae598efb02c741" } } diff --git a/fanuc_crx30ia/crx30ia.usda b/fanuc_crx30ia/crx30ia.usda index f66bc50662ddc7eb11fc26c7cb73e2d92953de7e..7f5e41c332b08fc617619ec399d680b13ae16882 100644 --- a/fanuc_crx30ia/crx30ia.usda +++ b/fanuc_crx30ia/crx30ia.usda @@ -21,11 +21,964 @@ } } } + string[] revision_of = [ + "simready.hf.FANUC-CORPORATION.SimReady-Assets.crx30ia.2026.10.19_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/fanuc_crx30ia/payloads/materials.usda b/fanuc_crx30ia/payloads/materials.usda index cc82b9fcfeceb7dec94aeb5b1dedba9491744b6d..19f2f920b1d6f2e493bcb961c235fa224d51df68 100644 --- a/fanuc_crx30ia/payloads/materials.usda +++ b/fanuc_crx30ia/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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/fanuc_crx5ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_crx5ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index a6f49d512b54356627588372be35b1250f6a9c06..33e5420bfff76b919268601fa2d72b1233ca6824 100644 --- a/fanuc_crx5ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_crx5ia/.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": "2026-10-26T18:16:55", + "timestamp": "2026-11-02T23:07:43", "assets": [ { "asset": "crx5ia.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": "74d58fe75f1bc4d4dca5ba1bed52d0ca74215a501fb30e641961993024caad3b" + "sha256": "bb3ae55fd778b49c70bbcb58246eda842b68ba0bfea1cc6105e0a98c111f5c47" } } diff --git a/fanuc_crx5ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_crx5ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..0e38fce626c32a733de82cab274c557251410ad2 100644 --- a/fanuc_crx5ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_crx5ia/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:07:45", "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/fanuc_crx5ia/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_crx5ia/.metadata/com.nvidia.simready.packaging.bom.json index 12f62c88b5af841206d8aa6ec5aa7babda287d8c..15a25c675f8fd448928837bf2d6ad008e23621cc 100644 --- a/fanuc_crx5ia/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_crx5ia/.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/fanuc_crx5ia/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_crx5ia/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49540, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "b00b7dc619b4ec7acd523ba98d9cd28e86c18ea5ecaa014408b61a7b821ed306", + "sha256": "eb3a260be01b22b13bd8bb8b49ccd9ed9e8e231460ca9d4a6835447fa41d4f51" } }, { @@ -18,20 +18,12 @@ "sha256": "1eb16f39d2678fab91751b950347ef659156249100363223989c64124fbbf1ad" } }, - { - "relative_path": ".thumbs/crx5ia.thumb.usd", - "size": 6123, - "hash": { - "sha256-flat-1mb": "aecfc4a0ce9313e23bb70c905488f6ca68e5cef1d827d26792a31b061bea9dd4", - "sha256": "3377093a4ab5fb005a19bf61d117cc23fb056da94590219e633c67d4ab0fd799" - } - }, { "relative_path": "crx5ia.usda", - "size": 15978, + "size": 81660, "hash": { - "sha256-flat-1mb": "2d7a893e18cc65144233a3b4ec1fbc4b6817e295b13a95558977192ca062f968", - "sha256": "927a2e720b827f5175feb270ff27ef51081fcdd897a10878c598c4cf6097eee5" + "sha256-flat-1mb": "8198e4772d9e969b1f2b7bf9e6128c9443ea15c94bb568852cad6f95ea194751", + "sha256": "d878cf1410abd09dede2d6f61d8ad3780407426c181e001111ec77e55f981dfe" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 44792, + "size": 44856, "hash": { - "sha256-flat-1mb": "232f000ccc4a0731c469445ff633f24262ed60fdb2cb006a14929c6d66ea71dd", - "sha256": "9ff9b7a8659398533ae20fec6d8c9185a390cb93324154817cfca654945e5b96" + "sha256-flat-1mb": "97871886245db1cd5eccd6472c3ee74adb65cf4d4742e768ba918837a6c944a3", + "sha256": "0e32e0c2274606c9fec65c08d7508e0717c13fe2f4168c48a43ed540888a95d1" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_crx5ia/.simready/validation.json b/fanuc_crx5ia/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fae6003e9597e3418a9c44cf54e79d7c62e32712 100644 --- a/fanuc_crx5ia/.simready/validation.json +++ b/fanuc_crx5ia/.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 +218,959 @@ } } } - } + }, + "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", + 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"simready.hf.FANUC-CORPORATION.SimReady-Assets.crx5ia.2026.10.19_00" + ] } } diff --git a/fanuc_crx5ia/.thumbs/crx5ia.thumb.usd b/fanuc_crx5ia/.thumbs/crx5ia.thumb.usd deleted file mode 100644 index 89232f64139b4c8eb324df1461a81e2e8e305c6b..0000000000000000000000000000000000000000 Binary files a/fanuc_crx5ia/.thumbs/crx5ia.thumb.usd and /dev/null differ diff --git a/fanuc_crx5ia/com.nvidia.simready.packaging.json b/fanuc_crx5ia/com.nvidia.simready.packaging.json index 3ed740d9d081ebf26fd0db57a89775cb073d9ce4..98f6a01c0c66f429b7864fabe3ab2f58537e1976 100644 --- a/fanuc_crx5ia/com.nvidia.simready.packaging.json +++ b/fanuc_crx5ia/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx5ia.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx5ia.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "2bbf0218b1d40fef992a00124363a1395573de28b7cbf99d9accc205e09a0913" + "sha256": "589dc9a9d1768b0c19ddd7fc9fcd72b2bbf14d60ceee3a4d5b988d45a819b0ed" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "c2f25d826b3af6c5e13473c7f42a202e2cb551d3f444028cf9bf35e25c793bb7" + "sha256": "1996ef0663ea9ceab993896b512eb2d7bda7e59249f62160a3f1c72e0848e167" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "658c496b731daa796a68bc4abbc9de88a21587abaaf4c42c7e94ddae4efe4368" + "sha256": "bb3ae55fd778b49c70bbcb58246eda842b68ba0bfea1cc6105e0a98c111f5c47" }, "package_hash": { - "sha256": "2d4e08270d1f0590a593b271a54523eceaa8fd3f68635000d336981568a4e86b" + "sha256": "5b0bd53161c198f0b4ff11de4e536fbf27a673ecdb41f7a2fdbfc13ec1d6c18f" } } diff --git a/fanuc_crx5ia/crx5ia.usda b/fanuc_crx5ia/crx5ia.usda index a1c73b3903dea2fd6a2db51cec96e2097dab8dbc..52993ab9a54baa31d6a2a7c2465855c4405c89e5 100644 --- a/fanuc_crx5ia/crx5ia.usda +++ b/fanuc_crx5ia/crx5ia.usda @@ -21,11 +21,964 @@ } } } + string[] revision_of = [ + "simready.hf.FANUC-CORPORATION.SimReady-Assets.crx5ia.2026.10.19_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/fanuc_crx5ia/payloads/materials.usda b/fanuc_crx5ia/payloads/materials.usda index 0a8bd43e51f96e90804c8fbee13c8ce1d9f4dbe7..9cffe4918157fe1ae34f86e53e073f81b0ce1866 100644 --- a/fanuc_crx5ia/payloads/materials.usda +++ b/fanuc_crx5ia/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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/fanuc_er4ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_er4ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index e1b26ede705335631d765529eb1150830f3b0686..a8b32af79b332ceec06abf03fb6bc6e7403a1b9f 100644 --- a/fanuc_er4ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_er4ia/.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": "2026-10-26T18:16:58", + "timestamp": "2026-11-02T23:07:46", "assets": [ { "asset": "er4ia.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": "843040ded8c5fa52ad0b10d3a5318eec8b794d9d9c607169032d957945071ca7" + "sha256": "594052ede85e08c1ab49924d310c65339bbc91776199a2641915663804d32fd1" } } diff --git a/fanuc_er4ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_er4ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..78cdfbdaf72e34a979793189fdffda4e6a4847bb 100644 --- a/fanuc_er4ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_er4ia/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:07:48", "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/fanuc_er4ia/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_er4ia/.metadata/com.nvidia.simready.packaging.bom.json index 234c4aae5ac88bba5fe250b84612ec27057bc1f4..0cbcee75ef1c08bba14844cab961a539e86c0aa1 100644 --- a/fanuc_er4ia/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_er4ia/.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/fanuc_er4ia/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_er4ia/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" } }, { @@ -18,20 +18,12 @@ "sha256": "fcecbb681cd6a6118f9bb6dde09d2732b32bc6e9a872694bd8279b82018e8f7b" } }, - { - "relative_path": ".thumbs/er4ia.thumb.usd", - "size": 6122, - "hash": { - "sha256-flat-1mb": "ff5740c8525bc415e83e96e496479d4212f1bd5290e0cb86aa4ea8513f07c0c8", - "sha256": "799b844bfb5e12a76bbfa50ec368ef7e324dc6f9ad40171728efb02232a44ed0" - } - }, { "relative_path": "er4ia.usda", - "size": 15969, + "size": 81515, "hash": { - "sha256-flat-1mb": "06d3caa8733deb89c323831e6ecce4471be75c9c48e3ec1645658f57d97ffc8b", - "sha256": "064744746931414ef07e1420ca17d33430c5ac80f810b6472ed771a1faa82254" + "sha256-flat-1mb": "4aaa842c1e954a2edca2d0c0e05508af624f28489c59bbf3c714cb02ba31119f", + "sha256": "a8c2fc90047e2bf6b13cec32e36a2b9d44230c2434c4a3437f491351eb4abb19" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 61351, + "size": 61439, "hash": { - "sha256-flat-1mb": "e407d4c5f1504e2ac9ac5a2c6564a44c31f08e312315216327a1e905e75f0f8c", - "sha256": "b6f7a4033754138bc926e94ad5876af85b8d8d2746b9bc82565aac0817fa7a29" + "sha256-flat-1mb": "cbd181536eedd689b819eeb06a29c223e203baf509824744d6e33a04b9a7bec2", + "sha256": "51efc01533ee6c47b15b2bbfebd7d0e2c9a0cce6c42dec6954779d911cf8f749" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_er4ia/.simready/validation.json 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"/.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/fanuc_er4ia/.thumbs/er4ia.thumb.usd b/fanuc_er4ia/.thumbs/er4ia.thumb.usd deleted file mode 100644 index 4593db5e3308fcdcb91861d6d2bbd2c9841321dc..0000000000000000000000000000000000000000 Binary files a/fanuc_er4ia/.thumbs/er4ia.thumb.usd and /dev/null differ diff --git a/fanuc_er4ia/com.nvidia.simready.packaging.json b/fanuc_er4ia/com.nvidia.simready.packaging.json index 34ab7670466e58a2ee313a129937bf81ae56a663..7d645b9a6cdc985fa1658c994890274c6e0b0e4a 100644 --- a/fanuc_er4ia/com.nvidia.simready.packaging.json +++ b/fanuc_er4ia/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_er4ia.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_er4ia.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "de5c0e73844ffc6ced17166bcef764b8f145672a0b6349c616cd5f7a7f3693e6" + "sha256": "dad93229b58d62e241c59b62730fa8c7d0f8326cdd664529b6c372ec0d0279f5" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "cfd7878de653aff1933b1922201320f6feae4be6afc45a5188a3fb0162b53b3a" + "sha256": "91be92b5e55a39f9bba24805744d23c73c8ad46fd7e9477c1cdfd51438e4efc7" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "2ed4a3d9ffad30c4bdedd6966d37784cb88423b259ade65d9f2911101d44d3be" + "sha256": "594052ede85e08c1ab49924d310c65339bbc91776199a2641915663804d32fd1" }, "package_hash": { - "sha256": "2f71ce826bd6953ebc88d2ec8193f46afb0d51ca22361bac6d3898fcc6e4b820" + "sha256": "7f385bc768860a6481940e404dd17482eade59201a4f13ad63effe78513facca" } } diff --git a/fanuc_er4ia/er4ia.usda b/fanuc_er4ia/er4ia.usda index 8ccf45abe5ecbad9cf2bf2b2f590fa1939ca9cf8..d93262a065d873f34c87c41a89a10f7235884d9f 100644 --- a/fanuc_er4ia/er4ia.usda +++ b/fanuc_er4ia/er4ia.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/fanuc_er4ia/payloads/materials.usda b/fanuc_er4ia/payloads/materials.usda index baa096370f7929a5957cc10d55a9d0d68ee9b369..5b665e49381c8aba3631d5b2af1030d1800f6bf7 100644 --- a/fanuc_er4ia/payloads/materials.usda +++ b/fanuc_er4ia/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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) @@ -1447,7 +1447,7 @@ 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" ) @@ -1588,7 +1588,7 @@ 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) @@ -1606,7 +1606,7 @@ 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" ) @@ -1747,7 +1747,7 @@ 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/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 429d0192d5026c95ff3e028c913280fdb50d6f98..80370136daf02f41045292f4e58afcc877df4900 100644 --- a/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate10_11a/.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": "2026-10-26T18:17:00", + "timestamp": "2026-11-02T23:07:49", "assets": [ { "asset": "lrmate10-11a.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": "d2caaf1978933bb75837bd3aaf1f5a4fd1c8f76ad6df5b4a2913e62ab6219c4f" + "sha256": "b1b8dc1a9601c2db334a595182e99420a15ce3b9501990672ea26ad494f2a54f" } } diff --git a/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..a0b87d21da662906608d29247ea26b0ed9f20d51 100644 --- a/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_lrmate10_11a/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:07:51", "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/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.packaging.bom.json index 44d176446afb04f32a5d5e93fb6c2a32df7e8aa1..3a1b2a131182ccb0d37ef56881273c0e4eaecd35 100644 --- a/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate10_11a/.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/fanuc_lrmate10_11a/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_lrmate10_11a/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" } }, { @@ -18,20 +18,12 @@ "sha256": "f49bb677d93125ce745635003c33454e9844d6e31468a1f46306a2f9e9c6f451" } }, - { - "relative_path": ".thumbs/lrmate10-11a.thumb.usd", - "size": 6128, - "hash": { - "sha256-flat-1mb": "11b824f740deaa459543f4bc55708ae16bd609a061343f02d1e3cecf3a455f26", - "sha256": "3477eb3da07a3872b7c61b2b6463f25224d1b552892fe574e969a1e6269a5c53" - } - }, { "relative_path": "lrmate10-11a.usda", - "size": 16393, + "size": 81939, "hash": { - "sha256-flat-1mb": "bdfe59e972632cdc83adb317f6f3d8db5371d9661db89ee5829c71dac407028a", - "sha256": "a4b93c822d3633108adb9cacef8ab3fbe04e72238a67b879c7184ac08dc7fd71" + "sha256-flat-1mb": "02c109e1b38e42e57d6574d0f8c5526aadacd1e1b2be7ccc540f613cdffb277b", + "sha256": "2cc95540331ae96f445389366478c4ded9c2264c0a5850222c16237dc3127060" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 55794, + "size": 55874, "hash": { - "sha256-flat-1mb": "d39d2358cb638d76e28a854358500c88742b8c171fe9bb3377848950b74b8967", - "sha256": "7bfc8b8c89e6768cc6784a578092f25bb5ef2a6276d64d046d3ef49ca53d3cc3" + "sha256-flat-1mb": "224b0c9e72db2b02651da67da23ef9d5eb64a07a381ccbfddfd2b9100fda4b21", + "sha256": "c3980c5f280aef9a83449faa415d366d6c3805cc45baf089f3b5e5c448a59c8c" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_lrmate10_11a/.simready/validation.json b/fanuc_lrmate10_11a/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_lrmate10_11a/.simready/validation.json +++ b/fanuc_lrmate10_11a/.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", + "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": 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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/fanuc_lrmate10_11a/.thumbs/lrmate10-11a.thumb.usd b/fanuc_lrmate10_11a/.thumbs/lrmate10-11a.thumb.usd deleted file mode 100644 index 74b04e680bd1074f4cc18cad4050140fc514d749..0000000000000000000000000000000000000000 Binary files a/fanuc_lrmate10_11a/.thumbs/lrmate10-11a.thumb.usd and /dev/null differ diff --git a/fanuc_lrmate10_11a/com.nvidia.simready.packaging.json b/fanuc_lrmate10_11a/com.nvidia.simready.packaging.json index 1145a17fec97d0a5282713f7f0cd9d85ecdd0077..52202ece894bee97132e506fa652cb06cbe00615 100644 --- a/fanuc_lrmate10_11a/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate10_11a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate10_11a.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate10_11a.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "d41b466bd7eaf4d7c264b6a8ff910cf8273d6e9db259abfaab23199d3845697f" + "sha256": "809547e4dbd993787ac1ecf75a51f53d66c43f9792a9dd610a9dbc320a2a3aa2" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "7be1d222ee03cd108c15178c8cd5302015e8533ce50c82b96b4296b594a04919" + "sha256": "626c1746f371f7aae04a48cc25d4fbcc90fe330c09c55142047699e914066862" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "950085fefa83e47b1c0c482498f2c0d6b29e23a76d40539fe04e0c64e654c0dc" + "sha256": "b1b8dc1a9601c2db334a595182e99420a15ce3b9501990672ea26ad494f2a54f" }, "package_hash": { - "sha256": "e3c0d3bcc066b54c53f43aa9d3be10a60b22d7abed0ebdca855676b373bcf2ef" + "sha256": "191e9942f12652be38859ce6f3bae3b850188ee6c72b860d8c3b7e3c1d3faab9" } } diff --git a/fanuc_lrmate10_11a/lrmate10-11a.usda b/fanuc_lrmate10_11a/lrmate10-11a.usda index 4b9aecf2911316d750aef08106e0ed1f5feef9cb..14b6274bc8ed252068744ecf3f7a457a6fe8457c 100644 --- a/fanuc_lrmate10_11a/lrmate10-11a.usda +++ b/fanuc_lrmate10_11a/lrmate10-11a.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/fanuc_lrmate10_11a/payloads/materials.usda b/fanuc_lrmate10_11a/payloads/materials.usda index 0e8a868a4566e3d6e5b13a00de8c7478f7249429..9d7fdbbc6ee80659d9a684ef56ecb52ef2d95277 100644 --- a/fanuc_lrmate10_11a/payloads/materials.usda +++ b/fanuc_lrmate10_11a/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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) @@ -1447,7 +1447,7 @@ 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" ) @@ -1588,7 +1588,7 @@ 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/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index fa439f77cd63ecd125127e2db6acc5bb0d66c046..ff734c9a31a8d462a0c13866579b93511f78a10c 100644 --- a/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate10_11afc/.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": "2026-10-26T18:17:02", + "timestamp": "2026-11-02T23:07:52", "assets": [ { "asset": "lrmate10-11afc.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": "241015ee8dde505fe3d7f1172a4a31d1df21c08fae28b4a8ccd70f0a999070b2" + "sha256": "752ffe24b3b407681481637cd5a72799b9cbc7820f252b66d423424d43bad567" } } diff --git a/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..6ffb0f2a571b20a06b09bd0c658b3dc403c9612f 100644 --- a/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_lrmate10_11afc/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:07:54", "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/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.packaging.bom.json index 399b9520424ec5304821dadaa40db4dc8695c21c..ca4b0e7db5d10149d8dc1b2e3441a078006f5a61 100644 --- a/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate10_11afc/.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/fanuc_lrmate10_11afc/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_lrmate10_11afc/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" } }, { @@ -18,20 +18,12 @@ "sha256": "2f58b209741987d032052bb946989651bfe651f248940f4e2741d4e46d55e218" } }, - { - "relative_path": ".thumbs/lrmate10-11afc.thumb.usd", - "size": 6130, - "hash": { - "sha256-flat-1mb": "0a5467963f303cd57ad370330260c7812a931cf4e406f70c87b6614482ded6b2", - "sha256": "431b31477eea06a39e562b9dd5591ed9642d55fa19ad31ac79604f2174d14c57" - } - }, { "relative_path": "lrmate10-11afc.usda", - "size": 16040, + "size": 81586, "hash": { - "sha256-flat-1mb": "debfa70e95b57a4f4d8d660712456a710274477b3928f4af3a2ac9b1e17e1266", - "sha256": "fdec53b48209eb3cb68e559b751d4c31400452a87ba422a2da341c75fff6f269" + "sha256-flat-1mb": "03a5fccfa3b5f03206651b025339b9c321ab00657f55361c9ddb6fa49fbd76fb", + "sha256": "8d9f2884b03d54865064581d962832afa92ae3c3556d218ea4db8c3bec5c68d6" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 39122, + "size": 39178, "hash": { - "sha256-flat-1mb": "92c71f9c5af6960927d16a6034ac4be3bc3cf468ad378206af74ad8a9789c46c", - "sha256": "86c19f270d65d04830db33bb9476f0426b0985a9144944a0c78629d3e7c0ce87" + "sha256-flat-1mb": "9ca02427689df566236dd993a45b89d9eaba05816e7d7084356c5ad928a08db0", + "sha256": "1b56170870f47ab6d2fb521955e1ff4c85e758c110f57a7fae538bf6a561fa3c" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_lrmate10_11afc/.simready/validation.json b/fanuc_lrmate10_11afc/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_lrmate10_11afc/.simready/validation.json +++ b/fanuc_lrmate10_11afc/.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": { + 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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/fanuc_lrmate10_11afc/.thumbs/lrmate10-11afc.thumb.usd b/fanuc_lrmate10_11afc/.thumbs/lrmate10-11afc.thumb.usd deleted file mode 100644 index 036a712f3e80497a24ddac2267c7f7327db69515..0000000000000000000000000000000000000000 Binary files a/fanuc_lrmate10_11afc/.thumbs/lrmate10-11afc.thumb.usd and /dev/null differ diff --git a/fanuc_lrmate10_11afc/com.nvidia.simready.packaging.json b/fanuc_lrmate10_11afc/com.nvidia.simready.packaging.json index 9ffce71d22dad51ffde4d3e944284e640ed136ef..71475a0f90a53d1f4e9bbed28b8a16aaeb7341f7 100644 --- a/fanuc_lrmate10_11afc/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate10_11afc/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate10_11afc.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate10_11afc.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "c851442f81e674aafdc3baef18b3afc3493b4015325ecbc1be5a7df03cd3f2a4" + "sha256": "05fe00f337a387ae40ee9f731a384c7905df34809e1f028c59b6382376bb56c5" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "5d796a9cfee676948b4b633f5693813b3f470a00611952d0e1f781432c9c859d" + "sha256": "249b02f106ddddf3934935b599c0cba2b608eb3890eaaea1af81812ea34ef5a8" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "96390b8dc22f04484d4618e3a3f23751dbb6bef813d32932e724fb2531aac97d" + "sha256": "752ffe24b3b407681481637cd5a72799b9cbc7820f252b66d423424d43bad567" }, "package_hash": { - "sha256": "32eeb5405a3d956c287241c2f8431d720f48ac45ab0fcb65301f4cdf9c3efc01" + "sha256": "97bf0a5282db99028a2e2d413177cf1c90beaad73211f0f30e4af2a395c84877" } } diff --git a/fanuc_lrmate10_11afc/lrmate10-11afc.usda b/fanuc_lrmate10_11afc/lrmate10-11afc.usda index 65ec07a6212d767d46bb3aa715160b17d0127932..9fdad32cfe89f2cc3b46fa064d926cfa378f5c15 100644 --- a/fanuc_lrmate10_11afc/lrmate10-11afc.usda +++ b/fanuc_lrmate10_11afc/lrmate10-11afc.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/fanuc_lrmate10_11afc/payloads/materials.usda b/fanuc_lrmate10_11afc/payloads/materials.usda index b80903abefa70b26f225b90768da83dff9f8c9c7..0414890cc4b9914021dd7b4a7606326eba42b610 100644 --- a/fanuc_lrmate10_11afc/payloads/materials.usda +++ b/fanuc_lrmate10_11afc/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -635,7 +635,7 @@ 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) @@ -653,7 +653,7 @@ 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" ) @@ -794,7 +794,7 @@ 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) @@ -812,7 +812,7 @@ 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" ) @@ -953,7 +953,7 @@ 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) @@ -971,7 +971,7 @@ 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" ) @@ -1112,7 +1112,7 @@ 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/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 4c2bc3528256c53c9afff3aae73f7e3cc89a2f99..8542e7d2a742ae3e76b210e93f9894cf71843202 100644 --- a/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate14_7d/.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": "2026-10-26T18:17:04", + "timestamp": "2026-11-02T23:07:55", "assets": [ { "asset": "lrmate14-7d.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": "fabf27d66299ca49968e321448f26ce8c3de075535593f5a92c2e6cf76cc2861" + "sha256": "162e1d22c99512b75afb9de29e9ecfd0c5dad6821cadc1f1dbb24682677b3d04" } } diff --git a/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..7163adf03df692bef6a9c9c192533aafaa39fb7d 100644 --- a/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_lrmate14_7d/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:07:56", "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/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.packaging.bom.json index 814668a2fdf947aba1d1748e6342c2637be18c16..7282e1a704ec7f04af908a50c18272d0f69f5645 100644 --- a/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate14_7d/.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/fanuc_lrmate14_7d/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_lrmate14_7d/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" } }, { @@ -18,20 +18,12 @@ "sha256": "41a04345ce47e003e253d8457853965f12e8989ad9f428c665049b90445dbe8d" } }, - { - "relative_path": ".thumbs/lrmate14-7d.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "cd3c9fdee9e75948a932b3f944416215bf7659fd4a742c95fcdcac7094c9fc49", - "sha256": "b9489b6b5b4cc60b2ff2f82aa741f00d4414af69cc63c79e5b1e037cb8ed5439" - } - }, { "relative_path": "lrmate14-7d.usda", - "size": 16018, + "size": 81564, "hash": { - "sha256-flat-1mb": "1d5a3245bb59b09a68db77a447665b94329940ce035f3486a7d5cae952cc3980", - "sha256": "7df02f41e222c6921c61f1190fab47677a0e446c47acd3e170f5aef1cad68145" + "sha256-flat-1mb": "f25004c113f1fb0868a4e4e667b50d74dfa3861cc17cda450317258226d54c68", + "sha256": "ff77b695b0792e3bec06a8d541a01e0ec895bb5562de083a382de5a885c9e81c" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 61554, + "size": 61642, "hash": { - "sha256-flat-1mb": "0cd52fc80cede7b85dcdd4bb8f91a292f0ffd7a6bb50513d9996a667627c6a0f", - "sha256": "424d723f3e8ca882a07e1878739747fcf5d88383210d8995d5e9a227fde7ac08" + "sha256-flat-1mb": "30e6e324b94145237a571f8d85f23d36d1110078aa0a21fb193933847bee144b", + "sha256": "2940b50c79cba50582e2f0b59fa45fca707ce4b77c1e13dbb02d7c0f51351303" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_lrmate14_7d/.simready/validation.json b/fanuc_lrmate14_7d/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_lrmate14_7d/.simready/validation.json +++ b/fanuc_lrmate14_7d/.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", + "version": "2.0.3" + }, + "normals_xz": { + "passed": true, + "status": "pass", + "name": "normals_xz", + "test_file": 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"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/fanuc_lrmate14_7d/.thumbs/lrmate14-7d.thumb.usd b/fanuc_lrmate14_7d/.thumbs/lrmate14-7d.thumb.usd deleted file mode 100644 index fe7f9cd51b3ec353c7c7bf8ca7d22fc9cb44ea36..0000000000000000000000000000000000000000 Binary files a/fanuc_lrmate14_7d/.thumbs/lrmate14-7d.thumb.usd and /dev/null differ diff --git a/fanuc_lrmate14_7d/com.nvidia.simready.packaging.json b/fanuc_lrmate14_7d/com.nvidia.simready.packaging.json index ea60e5b8b02a152ce21810a0cc82e27451937a03..2ef817cb6f16b53c3294a8e7f61065e1d7812059 100644 --- a/fanuc_lrmate14_7d/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate14_7d/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate14_7d.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate14_7d.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "4c34189de871d9e85d4813b6d357c98334cf87ab3cd6cfc78210773eeb5b1dcd" + "sha256": "0d53e2988ea052971d2e5184e7ebe6fec7dd62b98790282a1d9a55fe2ec67d65" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "8515c0ea74637182d7b7ad9f85106acabc20dfc0e3a8b16afea6fd4618635041" + "sha256": "da8cfb230e53eebbe626ab85bbcbb5166ce1b65dfa6dc7dddceff3a8afdae2e3" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "9d99532b0269bd5fcb67abf390e24cb8a13d55a6c825750d2a572cbdefa8f993" + "sha256": "162e1d22c99512b75afb9de29e9ecfd0c5dad6821cadc1f1dbb24682677b3d04" }, "package_hash": { - "sha256": "81a31c5781cf5120e1f82a9be2960d3b9f9eb20d54444a596c987f5de637a4f0" + "sha256": "b2bfaae4eb45d458ca4645b60aa5768cc4a3dd70be6f5b017bc6f106d95b08e6" } } diff --git a/fanuc_lrmate14_7d/lrmate14-7d.usda b/fanuc_lrmate14_7d/lrmate14-7d.usda index d21215340d82a8e672d3479816cdbd58e92b7482..0b097b7be149448afa2ba0899688c985832bfdbc 100644 --- a/fanuc_lrmate14_7d/lrmate14-7d.usda +++ b/fanuc_lrmate14_7d/lrmate14-7d.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/fanuc_lrmate14_7d/payloads/materials.usda b/fanuc_lrmate14_7d/payloads/materials.usda index 9d9f0df3c30774c0c1b99160fdacfbabd4af494d..13ba3d54249f66e5aadd7b5108721bb8d7c06fa1 100644 --- a/fanuc_lrmate14_7d/payloads/materials.usda +++ b/fanuc_lrmate14_7d/payloads/materials.usda @@ -16,7 +16,7 @@ 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) @@ -176,7 +176,7 @@ 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" ) @@ -317,7 +317,7 @@ 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) @@ -335,7 +335,7 @@ 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" ) @@ -476,7 +476,7 @@ 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) @@ -494,7 +494,7 @@ 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" ) @@ -635,7 +635,7 @@ 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) @@ -653,7 +653,7 @@ 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" ) @@ -794,7 +794,7 @@ 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) @@ -812,7 +812,7 @@ 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" ) @@ -953,7 +953,7 @@ 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) @@ -971,7 +971,7 @@ 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" ) @@ -1112,7 +1112,7 @@ 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) @@ -1130,7 +1130,7 @@ 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" ) @@ -1271,7 +1271,7 @@ 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) @@ -1289,7 +1289,7 @@ 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" ) @@ -1430,7 +1430,7 @@ 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) @@ -1448,7 +1448,7 @@ 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" ) @@ -1589,7 +1589,7 @@ 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) @@ -1607,7 +1607,7 @@ 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" ) @@ -1748,7 +1748,7 @@ 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/fanuc_lrmate200id/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate200id/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 6caf3c2dab2be46f397803c0b7fac1809abce8bb..72653b9be74693a1ad45cc692553578b34e38b8d 100644 --- a/fanuc_lrmate200id/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate200id/.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": "2026-10-26T18:17:07", + "timestamp": "2026-11-02T23:07:57", "assets": [ { "asset": "lrmate200id.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": "680064b1ce33000e053486cc38fb5b09427c38587ba07a6cf4ffb50e7baf7159" + "sha256": "435beac6b3066bfd70b6cd869b1e7e29bf9eba3c8e037b6619ee8c044099bb45" } } diff --git a/fanuc_lrmate200id/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_lrmate200id/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..16ba947982b6ba7146e03ef21ea3bd851129607d 100644 --- a/fanuc_lrmate200id/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_lrmate200id/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:07:59", "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/fanuc_lrmate200id/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate200id/.metadata/com.nvidia.simready.packaging.bom.json index f13acf9d66dae3f82c622060e025ee8c49fcdb0f..d8bf55c0d826f989a36cf3243c9589ecd10c180d 100644 --- a/fanuc_lrmate200id/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate200id/.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/fanuc_lrmate200id/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_lrmate200id/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" } }, { @@ -18,20 +18,12 @@ "sha256": "52cbd90e1cb8a3976a4272c26a606db00d5ff48b388961a884caf69a7c80d51a" } }, - { - "relative_path": ".thumbs/lrmate200id.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "eec20d2c88973b3a177f1033bee35fded88ff39e7fd6a14e1d8a1106842b7511", - "sha256": "96e890e25d94781b6d99d3934b9af84a53d4fb594b30f4cc690eb9a3babb4560" - } - }, { "relative_path": "lrmate200id.usda", - "size": 16018, + "size": 81564, "hash": { - "sha256-flat-1mb": "d19868790263568e5faefe1c6c55739330ab4a73d86ee5431fc3f4f2d00db494", - "sha256": "3b749eb90d261ddc2a67d13628ed8faef8af4a55df4a1a4d2a12018e3e1056d3" + "sha256-flat-1mb": "dbb8092c2d5d83f80ee9d7fa779ad485266f811118914dec5706c630bc5d936b", + "sha256": "5ab4b1071053884eeb3f40745b67ea8307c0976c6b9a675c5e548aa7dae9f839" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 61507, + "size": 61595, "hash": { - "sha256-flat-1mb": "dce713a4c5ad9872eeb763ba5e42c4871ea1ae503cad299a4a76dff6777650cc", - "sha256": "3ad7b26c3e9782cd104bb9599a9912c9b84781addc5d53cc58fae4ace605fa66" + "sha256-flat-1mb": "d10459f7cf3f6845bbb25bf2afbeb9aa05f91636516041fdd5ee82f60f201bf6", + "sha256": "5232fd61f3496d6a9aa425b4e371b47d40d805d7b79cde5f323a8dda4a6bf427" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_lrmate200id/.simready/validation.json b/fanuc_lrmate200id/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_lrmate200id/.simready/validation.json +++ b/fanuc_lrmate200id/.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", + "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", + 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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/fanuc_lrmate200id/.thumbs/lrmate200id.thumb.usd b/fanuc_lrmate200id/.thumbs/lrmate200id.thumb.usd deleted file mode 100644 index 2d7964fcdcba516f0ae9a688590edecb9deda734..0000000000000000000000000000000000000000 Binary files a/fanuc_lrmate200id/.thumbs/lrmate200id.thumb.usd and /dev/null differ diff --git a/fanuc_lrmate200id/com.nvidia.simready.packaging.json b/fanuc_lrmate200id/com.nvidia.simready.packaging.json index cbad87c5b0a498db54cd3cb95db6e6215008809f..9562d91c754b8db5e7cb7b3be3c7de83ac7387cd 100644 --- a/fanuc_lrmate200id/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate200id/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "6d3a44d4e49fd9b3995214caa67b99530c463b5b2aa03bbf50ce321554242039" + "sha256": "dc828d82b7195b2eed69e17289b1cf64425eeb2cebd3f0b02131761fa4b4b56a" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "e96eb8ff2c0da6c77d0ff5096cfe4a67eef4a126b3be2565daa63e026f8b096e" + "sha256": "dc5cec6b1a90671b0adf1de971cfcc1554d6bb8da0fe88a43de9be82b0d6d90b" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "bc3770fa26e1873cf8d87bd713e44c00c2bd7ef939f95cd095ae5adafd52bd00" + "sha256": "435beac6b3066bfd70b6cd869b1e7e29bf9eba3c8e037b6619ee8c044099bb45" }, "package_hash": { - "sha256": "ea4123dbf582c4f2d203be2144764e06b55720963b81b2cc5de234e3142d2971" + "sha256": "f51d254b7e081d9c602fa3616cae99a51b33aa6b5e2b97de4e4926afa19a7f1c" } } diff --git a/fanuc_lrmate200id/lrmate200id.usda b/fanuc_lrmate200id/lrmate200id.usda index a72552664c43a6725a271f8a278a000b45137c64..214531b04ec7da2dcdda8f02254fc5dbb3f37176 100644 --- a/fanuc_lrmate200id/lrmate200id.usda +++ b/fanuc_lrmate200id/lrmate200id.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/fanuc_lrmate200id/payloads/materials.usda b/fanuc_lrmate200id/payloads/materials.usda index 507027d2312690a30687f01a81fb04a49c879e11..e9095285e7cda914fa4975f7f6f982eb2a96869e 100644 --- a/fanuc_lrmate200id/payloads/materials.usda +++ b/fanuc_lrmate200id/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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) @@ -1447,7 +1447,7 @@ 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" ) @@ -1588,7 +1588,7 @@ 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) @@ -1606,7 +1606,7 @@ 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" ) @@ -1747,7 +1747,7 @@ 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/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 7ac0551a93f71ff06b40d6b71a073310925ac9fd..c43d77310d38dabbc30ecf09bf6d65382d7d5160 100644 --- a/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate200id14l/.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": "2026-10-26T18:17:09", + "timestamp": "2026-11-02T23:08:00", "assets": [ { "asset": "lrmate200id14l.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": "da347fc1417115bcc8581d0207f2c4a4e24101b9a0dc308e182b64b54d7e7bf2" + "sha256": "afe2a9e544440c08c7dbcf207ed8ef841916b16d86fc56f5142634ac1b477df3" } } diff --git a/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..1503537b8707387df08b4170acb73119f5535efd 100644 --- a/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_lrmate200id14l/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:02", "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/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.packaging.bom.json index ac42bcfbf44945b43f6c41b2df1ee3895f5a3902..38b76aff9c3627246bb41030f4651f3449e0216d 100644 --- a/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate200id14l/.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/fanuc_lrmate200id14l/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_lrmate200id14l/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" } }, { @@ -18,20 +18,12 @@ "sha256": "cecd9ce3817cdf9443ae89fc1c9ba3e1004b1c8d6fea781e05af705e019812e4" } }, - { - "relative_path": ".thumbs/lrmate200id14l.thumb.usd", - "size": 6130, - "hash": { - "sha256-flat-1mb": "a0b278da9b6a4559d8d58f559d4f8eab9aaf584c969f559788082d635ff53fa2", - "sha256": "09ac893dc9ac67284ae5d2887f79a9f760db2d58a030a3530e286e58a080c8f3" - } - }, { "relative_path": "lrmate200id14l.usda", - "size": 16041, + "size": 81587, "hash": { - "sha256-flat-1mb": "c7399994e80b69451c30d9afefb2c1e0f180f91128d7d51e1355ffe4707e95f8", - "sha256": "631b6354b9aea069a466b1889fd1fcaf1c765f504eca959c123649e21a12b002" + "sha256-flat-1mb": "859c4bc1bfa3b15b1913fb902007029bb2a054c7ed22e914937ee34f5ba7667b", + "sha256": "3cb7c998501777ad4ee12fb23d78fd59d15096495404997607216fb0ceb9da37" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 61507, + "size": 61595, "hash": { - "sha256-flat-1mb": "9e05ea5dd7532479bb23f6213472318e039ee8fa7c7c181ea83b660850e13fac", - "sha256": "2ef2bc8561dd0c52114872236700f138cdff39eaa58457c835eaa626a0f8186f" + "sha256-flat-1mb": "3e442f1de61392d901223e26b2120d2b71ac2c92f2f314ffe1f631a6e1a55ea2", + "sha256": "c7d0224dc85a65939a1ed416fb3a1ba7c8b36519ef6437ab8ce204c0331672d1" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_lrmate200id14l/.simready/validation.json b/fanuc_lrmate200id14l/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_lrmate200id14l/.simready/validation.json +++ b/fanuc_lrmate200id14l/.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": 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+ "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": 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"/.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/fanuc_lrmate200id14l/.thumbs/lrmate200id14l.thumb.usd b/fanuc_lrmate200id14l/.thumbs/lrmate200id14l.thumb.usd deleted file mode 100644 index 03ed45f535f3596788aea96bd9777b8e7f83e849..0000000000000000000000000000000000000000 Binary files a/fanuc_lrmate200id14l/.thumbs/lrmate200id14l.thumb.usd and /dev/null differ diff --git a/fanuc_lrmate200id14l/com.nvidia.simready.packaging.json b/fanuc_lrmate200id14l/com.nvidia.simready.packaging.json index 5409cbb5dc4c26d94459fe327992b170a9074801..33de8cb7d06e135ea351affe591c5a5a23128d52 100644 --- a/fanuc_lrmate200id14l/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate200id14l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id14l.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id14l.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "8ccdef22177b2030bf015be98008c0ed5307df13b81bcdc29e9b9e7350a29c00" + "sha256": "e0ce93c9acf7a0b77235745633ce5ca5d269fa9a76f43f5d4b50a2109d27f371" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "9e9937aec0aef6969fb1be633162bbf0042b74b362e6e35aeea94dfa26755cde" + "sha256": "21b0042070a0211ddd1a22dfdbd354778b2f7bbea1888a8de596e3988e63d1a2" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "7ca32a7f3cdf950de3061d7aa0e7e35c66a86f43ea9e81324a033a968d5ac0f7" + "sha256": "afe2a9e544440c08c7dbcf207ed8ef841916b16d86fc56f5142634ac1b477df3" }, "package_hash": { - "sha256": "d2558e566de1e9fa6fc2dcaf3415c3cc7392c731a2c411b80c8982c07fd9b363" + "sha256": "4428916af89185125ba5d3d125bdadb5541f0fd031175d2c6c5fb3264c7a8e59" } } diff --git a/fanuc_lrmate200id14l/lrmate200id14l.usda b/fanuc_lrmate200id14l/lrmate200id14l.usda index 735996bcbb19aaa0685e42e6550c8b7af13b6ef4..5f3fd78196820dad30e5ab2c7ec235e08587c14f 100644 --- a/fanuc_lrmate200id14l/lrmate200id14l.usda +++ b/fanuc_lrmate200id14l/lrmate200id14l.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/fanuc_lrmate200id14l/payloads/materials.usda b/fanuc_lrmate200id14l/payloads/materials.usda index 1b8e574493e87b1317c4b51d8c0d7e2e232fb4e2..7a2c10502d49d2696ddf9b344991f8eb3368650d 100644 --- a/fanuc_lrmate200id14l/payloads/materials.usda +++ b/fanuc_lrmate200id14l/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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) @@ -1447,7 +1447,7 @@ 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" ) @@ -1588,7 +1588,7 @@ 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) @@ -1606,7 +1606,7 @@ 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" ) @@ -1747,7 +1747,7 @@ 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/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 08f7a2c0d50009a49eb20b313997ad70f478ea03..716041b6e1a1fcccbbec41269f08974a1f417e79 100644 --- a/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate200id4s/.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": "2026-10-26T18:17:11", + "timestamp": "2026-11-02T23:08:03", "assets": [ { "asset": "lrmate200id4s.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": "674f8e21ce38c43c5652ef540f528716cabbc2e462bf4e1ca58933b3d977cfd5" + "sha256": "6b04b238fa43ed15a692e2c9cfca0165d08a4660c464fdc840255e06b2a86d28" } } diff --git a/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..dede3602773b81bd7119215fea52b6adc25c8da9 100644 --- a/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_lrmate200id4s/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:05", "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/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.packaging.bom.json index ddca0e57efee43fa9721f38a9657026fb3343c0f..950e71b676079c5e27646fec7d4926cfc68dc250 100644 --- a/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate200id4s/.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/fanuc_lrmate200id4s/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_lrmate200id4s/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" } }, { @@ -18,20 +18,12 @@ "sha256": "5987ad69ec579b8f0ba1e559f5086f3d4ca02b168c9303af12af7a9570b9c744" } }, - { - "relative_path": ".thumbs/lrmate200id4s.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": "3e64a3d54e6cf6dcdb523b04f85eacb9d25b3ab0ff86a22e237173f1992d9639", - "sha256": "a6ce0b6482e0d4d5cfe5b0252767b995872486dedabeb2b81dc62ac58e12cccb" - } - }, { "relative_path": "lrmate200id4s.usda", - "size": 16033, + "size": 81579, "hash": { - "sha256-flat-1mb": "83b9890ac8e432bfee6620f201cee1c478cb1a7a52959325d05fceeba93fc89c", - "sha256": "a1bd621909bafbfb8e482cab8fcbcad523fbc04dba9516a0600f3bc5643edbb6" + "sha256-flat-1mb": "8b486cfd1a0b43c60c9ec8a61d72f07a290adc25b522b3d8511bf8f3bf8f5d54", + "sha256": "247c6ebc7756a22632a246f234ca10b0c7934cd472d248407074e7fe9cb3f125" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 61345, + "size": 61433, "hash": { - "sha256-flat-1mb": "32d2774ee8a6eaee8d6773f8c2dc04234bffd8d9e587b4ce05e9a184ffb3009f", - "sha256": "b5c4146b244db6a872f6e4d9ad7be04cd9fa10398263c3d06a6d4cdb661a0737" + "sha256-flat-1mb": "952cb53bcfa95714e940d6d6919756632820d468453ec1e236c8232548d754e5", + "sha256": "0db4eee9149d29287902b3113a4122e68a2dd5ea8421dc2bf155be1aaae749ac" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_lrmate200id4s/.simready/validation.json b/fanuc_lrmate200id4s/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_lrmate200id4s/.simready/validation.json +++ b/fanuc_lrmate200id4s/.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": 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+ "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/fanuc_lrmate200id4s/.thumbs/lrmate200id4s.thumb.usd b/fanuc_lrmate200id4s/.thumbs/lrmate200id4s.thumb.usd deleted file mode 100644 index 44ec88b61705a7665b1404f5c7bb66b81e48e2dc..0000000000000000000000000000000000000000 Binary files a/fanuc_lrmate200id4s/.thumbs/lrmate200id4s.thumb.usd and /dev/null differ diff --git a/fanuc_lrmate200id4s/com.nvidia.simready.packaging.json b/fanuc_lrmate200id4s/com.nvidia.simready.packaging.json index af5b4ee9bd61ca3ee0703a5f3b5f398451308a1e..3681c19cb44bc85141172469281e5b486890c5ca 100644 --- a/fanuc_lrmate200id4s/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate200id4s/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id4s.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id4s.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "bfeb7008a4f4d46d36ad40e3490eb31b9ccd7bebaf4ef79fdb6a5ddf33ec8775" + "sha256": "94ea015885186dbf59610424bc67ea0d53f3d374bb0e9c704db379bc6c04890d" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "bd3ce6879aa3945f49876100a88cfb30e443d9371ea555c32f43f779dbfbb24f" + "sha256": "3b28a4af7f0cbb07e8b739a3e7888174d801771518f79d7b73c3e68758caffa5" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "e6084c400d79bf8110476e3ec22b25450d32385fc6bf74309f8fb4556671307f" + "sha256": "6b04b238fa43ed15a692e2c9cfca0165d08a4660c464fdc840255e06b2a86d28" }, "package_hash": { - "sha256": "63f73d893f38bc78781518d19eb6b724c7cb4d2f7c506199613a475a8b275f0d" + "sha256": "09df281f19d46ddb9ab9a12e916fe445c40c91fc174f155437e0c2079f763689" } } diff --git a/fanuc_lrmate200id4s/lrmate200id4s.usda b/fanuc_lrmate200id4s/lrmate200id4s.usda index 7fbdc618542c36ce72373aa3887c0929febdaeef..dbbd82197fe2f3b1acf8afa82ead5e63090507e9 100644 --- a/fanuc_lrmate200id4s/lrmate200id4s.usda +++ b/fanuc_lrmate200id4s/lrmate200id4s.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/fanuc_lrmate200id4s/payloads/materials.usda b/fanuc_lrmate200id4s/payloads/materials.usda index b9d646157ecbf86cf9157ddde1d8f662d7ef0902..a997abcf676e1feca4ea8733f02c082ca7ccddc6 100644 --- a/fanuc_lrmate200id4s/payloads/materials.usda +++ b/fanuc_lrmate200id4s/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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) @@ -1447,7 +1447,7 @@ 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" ) @@ -1588,7 +1588,7 @@ 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) @@ -1606,7 +1606,7 @@ 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" ) @@ -1747,7 +1747,7 @@ 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/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index d5d9250016d5aac0ac6ade4c062d9f0011fde242..18f05c0f29e0c39957e4b8a927ad751fa957e46d 100644 --- a/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate200id7c/.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": "2026-10-26T18:17:13", + "timestamp": "2026-11-02T23:08:06", "assets": [ { "asset": "lrmate200id7c.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": "0b9892a5082a41053a8891175143cac4e42ddab8470972e3e5a545a18c6c8c5c" + "sha256": "6ca55333cd0aab1901374808d85c5256c53b047df8a5bc048d280f15b6fd273d" } } diff --git a/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..7840e57569af28c274af9c8062b4c86165edabfa 100644 --- a/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_lrmate200id7c/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:07", "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/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.packaging.bom.json index 8fe26b52afb41b74ca5cb7e3e13ff5bbc740a676..7a132d5c17d356ed4e0e22acfdecbfcd3a5e885d 100644 --- a/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate200id7c/.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/fanuc_lrmate200id7c/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_lrmate200id7c/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" } }, { @@ -18,20 +18,12 @@ "sha256": "1700cd677af5cc6277ef01300313e87300871fd8f1d5a34352e73635f49b4cdb" } }, - { - "relative_path": ".thumbs/lrmate200id7c.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": "d6815c15d2c48a79fb334ccfa9bd4dd81b6038dc6c4b853caecdf0a0931407ca", - "sha256": "299e41d3accc6d01d3f91d43e856a267024c26d9103bd74c0011804e8737d657" - } - }, { "relative_path": "lrmate200id7c.usda", - "size": 16033, + "size": 81579, "hash": { - "sha256-flat-1mb": "5a8fe89d741417c08346df84f5fcf0ada4c3134c03042c8b0ae7abc17706a69d", - "sha256": "6cc8eb79021c21420cd154aff6aace736fe7bbc79f28928f1d3ec862284e3565" + "sha256-flat-1mb": "e815736794ae39f506f56fbbb7f40ca80d328acb8ac81c2163dd2383cd5730d3", + "sha256": "924ef18fc67acdb6eec31f5212ab6b605f9cfc94be36cb615f1bd8767def811a" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 44795, + "size": 44859, "hash": { - "sha256-flat-1mb": "6f8d0e9cfd653428ece49311ed42e4b3753dce0b4c2eed8e1d83a822beaad6b9", - "sha256": "e728d542499f044a155daee14a0b0e4da49ab686e974fd1d89391b0e2f370203" + "sha256-flat-1mb": "14ed0b8f2a4ba982c1aa1f9db6caf17bd04f2b66ac04d19003bb2a55c047809c", + "sha256": "dcd2f21978215f105b6487ae68bff09c4b7510a0f700b76ecd83b4f0e9ff2795" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_lrmate200id7c/.simready/validation.json b/fanuc_lrmate200id7c/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_lrmate200id7c/.simready/validation.json +++ b/fanuc_lrmate200id7c/.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", + "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": 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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/fanuc_lrmate200id7c/.thumbs/lrmate200id7c.thumb.usd b/fanuc_lrmate200id7c/.thumbs/lrmate200id7c.thumb.usd deleted file mode 100644 index 7bcb1080a7174850fe819902fa073192d6255fe7..0000000000000000000000000000000000000000 Binary files a/fanuc_lrmate200id7c/.thumbs/lrmate200id7c.thumb.usd and /dev/null differ diff --git a/fanuc_lrmate200id7c/com.nvidia.simready.packaging.json b/fanuc_lrmate200id7c/com.nvidia.simready.packaging.json index d7b4efc5043db94d10a494d5aa487782cb3d3f02..918302ed34a48638fbacc2ddce54e865a24ff484 100644 --- a/fanuc_lrmate200id7c/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate200id7c/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id7c.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id7c.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "d6f1daa7764354d9428fb1b3172d4eaeff6784932a7c1aa3dd05f7bbe5817700" + "sha256": "29f3a046f825ac64e3b4f806205f1042aef066a9109b76a24bde005d9d525ddb" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "0fe47bc9ded9ad4bc0117db7ff726c845ce2c2fe293ab595a9a815e3c359514e" + "sha256": "adc34361b347c646b9711b448411918b9d45861dcc49f69cfb7948f9ba30c105" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "d626fcffe039f4d7de732f977734433d06d98d82465c9362262f1de905ad4e4f" + "sha256": "6ca55333cd0aab1901374808d85c5256c53b047df8a5bc048d280f15b6fd273d" }, "package_hash": { - "sha256": "0b2b197f7115991f7a77cf342ab80c5eaf58a0cddf6d5050adf4d54a6e5e336d" + "sha256": "b324463b9f1fca642889109cb743038c4e21673053a9e3a5ea0d88cae2ee749e" } } diff --git a/fanuc_lrmate200id7c/lrmate200id7c.usda b/fanuc_lrmate200id7c/lrmate200id7c.usda index c0f77b725c140d5b79e2afcc503d26deb6a0f23a..0da6764a2b06bc19fde89215c4fb6afc0ec54dbd 100644 --- a/fanuc_lrmate200id7c/lrmate200id7c.usda +++ b/fanuc_lrmate200id7c/lrmate200id7c.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/fanuc_lrmate200id7c/payloads/materials.usda b/fanuc_lrmate200id7c/payloads/materials.usda index 603382e5eb5b42d8984e82f1f7fc21cd36089379..99b4a3ea9b866b89234c05e39b125e90516bc7a5 100644 --- a/fanuc_lrmate200id7c/payloads/materials.usda +++ b/fanuc_lrmate200id7c/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -317,7 +317,7 @@ 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) @@ -335,7 +335,7 @@ 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" ) @@ -476,7 +476,7 @@ 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) @@ -494,7 +494,7 @@ 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" ) @@ -635,7 +635,7 @@ 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) @@ -653,7 +653,7 @@ 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" ) @@ -794,7 +794,7 @@ 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) @@ -812,7 +812,7 @@ 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" ) @@ -953,7 +953,7 @@ 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) @@ -971,7 +971,7 @@ 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" ) @@ -1113,7 +1113,7 @@ 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) @@ -1131,7 +1131,7 @@ 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" ) @@ -1273,7 +1273,7 @@ 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/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index bc1165378b7604c907fd635f46eb751b8a99f4f5..c606ba799e0c245253da51ca1400b80632748b25 100644 --- a/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate200id7l/.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": "2026-10-26T18:17:15", + "timestamp": "2026-11-02T23:08:08", "assets": [ { "asset": "lrmate200id7l.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": "fdb71e3746c59e6adabc1298443e1213492897cd23eefe0c237296fc2cb06413" + "sha256": "d65a47b5868c6399b7e9b1bf19219c97c31e1cb7f33832a47080ee9ac5c6b27a" } } diff --git a/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..658f639f4419f3417098d1264c92569f34cb7095 100644 --- a/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_lrmate200id7l/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:10", "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/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.packaging.bom.json index c50ca1aaa73a14f88043d677d990fc5a2ad70bd5..9740f67d68c1abdb1f5b534a8dc2814815e155a0 100644 --- a/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate200id7l/.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/fanuc_lrmate200id7l/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_lrmate200id7l/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" } }, { @@ -18,20 +18,12 @@ "sha256": "1cbf67edd902f5ddcaa338daf8c101d39e7747f3c7e6077d89e1a8b36d254935" } }, - { - "relative_path": ".thumbs/lrmate200id7l.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": "bb7378c280cca443860c1bc7c2f9a3a7bb4c9e76e02dc0134d16aa48684c480b", - "sha256": "91145a7b9d267aa0508c5cfd4d06e4e0c83a0507295744d10878c5cdd0f9aeae" - } - }, { "relative_path": "lrmate200id7l.usda", - "size": 16033, + "size": 81579, "hash": { - "sha256-flat-1mb": "c31237d13a9711c95eaf80d8b255d7701dd933bf49b5aa63fb0c574b21fd70ad", - "sha256": "73350adb176e18a1023f0d2addd0d719b0847e04e71400fabd22bac1e32c586f" + "sha256-flat-1mb": "12318bc396dc3d1987d58be6fe37de142c76381f2e8c8248262c76964b53fdf7", + "sha256": "e0c6bef9cc36544ffaafd80053273f05e999c45f92b8b04c1576c09d407e4ab7" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 61507, + "size": 61595, "hash": { - "sha256-flat-1mb": "9e05ea5dd7532479bb23f6213472318e039ee8fa7c7c181ea83b660850e13fac", - "sha256": "2ef2bc8561dd0c52114872236700f138cdff39eaa58457c835eaa626a0f8186f" + "sha256-flat-1mb": "3e442f1de61392d901223e26b2120d2b71ac2c92f2f314ffe1f631a6e1a55ea2", + "sha256": "c7d0224dc85a65939a1ed416fb3a1ba7c8b36519ef6437ab8ce204c0331672d1" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_lrmate200id7l/.simready/validation.json b/fanuc_lrmate200id7l/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_lrmate200id7l/.simready/validation.json +++ b/fanuc_lrmate200id7l/.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": 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"/.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": 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"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", + 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}, + "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/fanuc_lrmate200id7l/.thumbs/lrmate200id7l.thumb.usd b/fanuc_lrmate200id7l/.thumbs/lrmate200id7l.thumb.usd deleted file mode 100644 index a6329cf8740e4f37a4e1027051d5b6a8e5130bf8..0000000000000000000000000000000000000000 Binary files a/fanuc_lrmate200id7l/.thumbs/lrmate200id7l.thumb.usd and /dev/null differ diff --git a/fanuc_lrmate200id7l/com.nvidia.simready.packaging.json b/fanuc_lrmate200id7l/com.nvidia.simready.packaging.json index 38d8a56c230da44493e5417e1c7e6720340d1933..700a2350e45512a1700fe7c98063624550255665 100644 --- a/fanuc_lrmate200id7l/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate200id7l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id7l.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id7l.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "8af37ee6aba47f0566267278af641c1ca9d145055083b3d99075261d40d09bd9" + "sha256": "7014c220582aedfc7d12c019252fff5717723e9a39c1c0e5ae8de1f5f030a641" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "1bd9ec4d8c5096adcad1b9e6b7a4c472d068b90b33d8e462b9ea4596934da118" + "sha256": "1028aeca16521b9e78e5e729c506823a3e00ca3bc02464a9ad2037fa45f0a92c" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "2c9f77764ae8008c12a7c05b8bcfec1fc9d90437fd77bc469c6a57ab0da15e88" + "sha256": "d65a47b5868c6399b7e9b1bf19219c97c31e1cb7f33832a47080ee9ac5c6b27a" }, "package_hash": { - "sha256": "b963865b646e6bbe0716240ec0decbbeb12f2784c441606e322713c905529be1" + "sha256": "bf7d391e239777b5590759e46991b194e8b165ef899a16888378b22e6bcf9552" } } diff --git a/fanuc_lrmate200id7l/lrmate200id7l.usda b/fanuc_lrmate200id7l/lrmate200id7l.usda index faafce063309bbb6e0be14267524c3c2727d659a..0b52ffa4565faaf25b93ba61b95e5758ca8a01f8 100644 --- a/fanuc_lrmate200id7l/lrmate200id7l.usda +++ b/fanuc_lrmate200id7l/lrmate200id7l.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/fanuc_lrmate200id7l/payloads/materials.usda b/fanuc_lrmate200id7l/payloads/materials.usda index 1b8e574493e87b1317c4b51d8c0d7e2e232fb4e2..7a2c10502d49d2696ddf9b344991f8eb3368650d 100644 --- a/fanuc_lrmate200id7l/payloads/materials.usda +++ b/fanuc_lrmate200id7l/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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) @@ -1447,7 +1447,7 @@ 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" ) @@ -1588,7 +1588,7 @@ 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) @@ -1606,7 +1606,7 @@ 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" ) @@ -1747,7 +1747,7 @@ 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/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 0f2e10afd65007bac4178cbf9b8f87e612d66cf6..a8e1461b0545431f35a901b11351c0933586381f 100644 --- a/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate200id7lc/.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": "2026-10-26T18:17:18", + "timestamp": "2026-11-02T23:08:11", "assets": [ { "asset": "lrmate200id7lc.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": "8dd174e4fd447a74ec64bd6df7a1a025c668ad237a863d5a508cbe467b535564" + "sha256": "efee824399ec316f96e604069e6d5e4fc22d978d368290eaed4a101bb52d676b" } } diff --git a/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..40d51d9a2139daffe5edef3c3bb5444108edba22 100644 --- a/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_lrmate200id7lc/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:13", "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/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.packaging.bom.json index c1a6d251165ccfe5440d7e7fb651c4839a9a8e22..cf7992274f97425bb9ba03ea1593f2834181a92d 100644 --- a/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate200id7lc/.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/fanuc_lrmate200id7lc/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_lrmate200id7lc/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" } }, { @@ -18,20 +18,12 @@ "sha256": "59069e6245db65533bb2ac806c28ee196eccd359e59791ba8cb148884f5edff6" } }, - { - "relative_path": ".thumbs/lrmate200id7lc.thumb.usd", - "size": 6130, - "hash": { - "sha256-flat-1mb": "4ccd073648f5c93304a0948f05f8ecc6bab0fa2984d60060f3274c4d1cab22a3", - "sha256": "5dbb7c84e9c71ab672f84afef012aa4ed8dc60bab06ae36f7f7578f14ecc0859" - } - }, { "relative_path": "lrmate200id7lc.usda", - "size": 16041, + "size": 81587, "hash": { - "sha256-flat-1mb": "c53016367520d973401c2a66e58e6c71b7b0d3513be18c735e12e06c971364f2", - "sha256": "3bbb3778905b20aa2e28e3a21befa328886d40810aff862c29733cf40351ef68" + "sha256-flat-1mb": "e0d5b2289e5f825b48db9a92f0bcee3782026efd544f9397ad6da5987fcc6d3a", + "sha256": "e8d02f257794d872b3d969c0211f8c378487d570f4a1850a25158b5b751438f0" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 44748, + "size": 44812, "hash": { - "sha256-flat-1mb": "4728bbe81fb6d67455c337463d3694d8bd37686d89ab08a601a85716704d8364", - "sha256": "4e2249692150edb3eb1a669ff90059295f218b225cf26fadc9509ff8f9a20ad8" + "sha256-flat-1mb": "29e69ad3f8b1ea62dbeccc6dbb16e23729c5389665191694d49966bdca2ae618", + "sha256": "6ac03f80c986b383786240f14ac45ef076d0444f01cba778f2396a6fbd7b1d71" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_lrmate200id7lc/.simready/validation.json b/fanuc_lrmate200id7lc/.simready/validation.json index 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"/.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/fanuc_lrmate200id7lc/.thumbs/lrmate200id7lc.thumb.usd b/fanuc_lrmate200id7lc/.thumbs/lrmate200id7lc.thumb.usd deleted file mode 100644 index a02173a37d1d1fddddfa3b9cb4653efeb22a5a3f..0000000000000000000000000000000000000000 Binary files a/fanuc_lrmate200id7lc/.thumbs/lrmate200id7lc.thumb.usd and /dev/null differ diff --git a/fanuc_lrmate200id7lc/com.nvidia.simready.packaging.json b/fanuc_lrmate200id7lc/com.nvidia.simready.packaging.json index d97e582c02e5974eca4500bdf9b38a1f49c465dc..2bdab2862cb60a71a5801761192dd16c5411f14a 100644 --- a/fanuc_lrmate200id7lc/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate200id7lc/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id7lc.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id7lc.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "f4839770e98618495874296660fa9b483feef045bdb582b492e49e7cdc76f6bf" + "sha256": "5603b86cb015885ea2f1a49e7cb65a18bb71b19755cf757a81b09ace53aa0e3c" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "904401eb5afb43810012bfeb08826b4ab45e1294f37f595d832fddca4d9b8aed" + "sha256": "4828562aa80c4b7af011730640b5bdad13fb1ca9960e279810cb0fe1188130d1" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "417cb43b7a55dedc88b76362c445e2eff2a4bde825957580950ab8f1890eb9af" + "sha256": "efee824399ec316f96e604069e6d5e4fc22d978d368290eaed4a101bb52d676b" }, "package_hash": { - "sha256": "5cdbb6acb7a42b7f59bd295baf95f58b438892930dac6961d6b776266d901e78" + "sha256": "0049bf7eeb04cec63f060cdf705e192595eb5f6e2f379687bd9225ef6ed71c05" } } diff --git a/fanuc_lrmate200id7lc/lrmate200id7lc.usda b/fanuc_lrmate200id7lc/lrmate200id7lc.usda index 2e951be0d1765cd3e74be7fef250519c550e19f2..6fd971d229fd8559ff70660ffc494d4b94805992 100644 --- a/fanuc_lrmate200id7lc/lrmate200id7lc.usda +++ b/fanuc_lrmate200id7lc/lrmate200id7lc.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/fanuc_lrmate200id7lc/payloads/materials.usda b/fanuc_lrmate200id7lc/payloads/materials.usda index 54004b08d383993564c405eb84c0b4e1334ca1c7..8828bf6db7c2126906d918daef0fb50d784c0e33 100644 --- a/fanuc_lrmate200id7lc/payloads/materials.usda +++ b/fanuc_lrmate200id7lc/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1112,7 +1112,7 @@ 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) @@ -1130,7 +1130,7 @@ 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" ) @@ -1272,7 +1272,7 @@ 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/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index fcf3c521ceb8a708312c15e0d15ed4477272a633..292cbf0831850483c4ccbe7cd812bead974e3eeb 100644 --- a/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate200id7we/.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": "2026-10-26T18:17:20", + "timestamp": "2026-11-02T23:08:14", "assets": [ { "asset": "lrmate200id7we.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": "7e35a1b1cf8fb7b2da0ebd9adc70fcf42ee8688892052f2932f3830a529654ec" + "sha256": "22f7a56a67b547b4b07635afeff8406e8839d4c80570ce597c6dbfc1fe6cb10f" } } diff --git a/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..76d6a6bb211669af230080c3ba9b63c43a65cd25 100644 --- a/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_lrmate200id7we/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:16", "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/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.packaging.bom.json index 32fd0bbb7a2d4585f8e5d0639761a8398c59a85b..4445d1ce04802161874936e26e803e2796fa6cd5 100644 --- a/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate200id7we/.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/fanuc_lrmate200id7we/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_lrmate200id7we/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" } }, { @@ -18,20 +18,12 @@ "sha256": "81d528a2288076c35f03dcb4705f952b55b52bc63cdc0d464fdd716d8ce004d3" } }, - { - "relative_path": ".thumbs/lrmate200id7we.thumb.usd", - "size": 6130, - "hash": { - "sha256-flat-1mb": "7e76a533970aa6ec490fc69c80d5ef5e4159f160dfebabd7781d4b418c65feae", - "sha256": "f31be1fe6c113e3b05d17a167e7d6c40b6b8bcef4ecd6d181ec2800b28b96e47" - } - }, { "relative_path": "lrmate200id7we.usda", - "size": 16041, + "size": 81587, "hash": { - "sha256-flat-1mb": "d2b95048f667095e4468e303cb832de6b2d212e438d8ba525a85bd81dc60e1d1", - "sha256": "7800ed5ef6b0f17ef2ba612b962f44d47c361119294bb00b09e7338355e94d52" + "sha256-flat-1mb": "eb0340367867e7dea79c8b6d57c20ea670e4d1000ee17c7e69567b39a78a7972", + "sha256": "2f6b06cc2d8577b20912f97bdec6e679597d5539d89d7c418ed4c9923014960d" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 61570, + "size": 61658, "hash": { - "sha256-flat-1mb": "c9e3dd6c39eaf9481f785856f6b30c3e3a71a521d9438b3031b427592b7af5d7", - "sha256": "e8c82188050355acab7d0821f90d8aa8521e9c698599134822b9a2a8e0dc01a5" + "sha256-flat-1mb": "e7559ab3012f2bee3367cec1a61f630880e487a1baadddafe10115e9a40c4ff8", + "sha256": "308be09ba5f4d0b38102fa6e73dd48824b911ef80ff6d744f6a21d3e8a18a139" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_lrmate200id7we/.simready/validation.json b/fanuc_lrmate200id7we/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_lrmate200id7we/.simready/validation.json +++ b/fanuc_lrmate200id7we/.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", + "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": 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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/fanuc_lrmate200id7we/.thumbs/lrmate200id7we.thumb.usd b/fanuc_lrmate200id7we/.thumbs/lrmate200id7we.thumb.usd deleted file mode 100644 index 50849af2d34ee27ac355091b4752abf9fa582271..0000000000000000000000000000000000000000 Binary files a/fanuc_lrmate200id7we/.thumbs/lrmate200id7we.thumb.usd and /dev/null differ diff --git a/fanuc_lrmate200id7we/com.nvidia.simready.packaging.json b/fanuc_lrmate200id7we/com.nvidia.simready.packaging.json index eabbccbb465cdd7971ca0b8d6b44badb8336e406..02f3ce17c610b2b2c813e1b6b3c86cb4f88bdbfe 100644 --- a/fanuc_lrmate200id7we/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate200id7we/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id7we.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id7we.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "41f1258e247059dd00de9d8166bd698fc195c97915e6369870ec989c6b2780ac" + "sha256": "6e329c2c283732df87103c2fe9bfe83451ad39d6f7f616f3d12a3068d9e5a72e" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "f9d6e2e615878aecbee81a309e2ba86b1d1447fd15b1549adb485fb74616aa69" + "sha256": "fc85104ef7a3ed34bcd830054ff8019f0a46bbcf2f42a7247b28f1b9bbbcfae8" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "eae499a213f445097bd26c03a1004822b57ce81d00aedf15632b585b75520a4e" + "sha256": "22f7a56a67b547b4b07635afeff8406e8839d4c80570ce597c6dbfc1fe6cb10f" }, "package_hash": { - "sha256": "911a0f9f0fbfd427c8c80ad3b77467c05fc23708ed1c6b3d296d833e65577b59" + "sha256": "d4524049e55ed53af8a1bb5932cf1ec5e20898f3de7292b3669f43e5ec1be716" } } diff --git a/fanuc_lrmate200id7we/lrmate200id7we.usda b/fanuc_lrmate200id7we/lrmate200id7we.usda index c9237c4bd1db2105dfbd10c6d251062a908ff1ff..d4b4eb254a6833db4e70f77c18a430cbea588b7a 100644 --- a/fanuc_lrmate200id7we/lrmate200id7we.usda +++ b/fanuc_lrmate200id7we/lrmate200id7we.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/fanuc_lrmate200id7we/payloads/materials.usda b/fanuc_lrmate200id7we/payloads/materials.usda index 4ad79b3b22b8878ce0df5e0f9545e11763a265b7..89d7e59bb5fc638f741ad947f3788996e10aa84a 100644 --- a/fanuc_lrmate200id7we/payloads/materials.usda +++ b/fanuc_lrmate200id7we/payloads/materials.usda @@ -16,7 +16,7 @@ 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) @@ -176,7 +176,7 @@ 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" ) @@ -318,7 +318,7 @@ 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) @@ -336,7 +336,7 @@ 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" ) @@ -477,7 +477,7 @@ 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) @@ -495,7 +495,7 @@ 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" ) @@ -636,7 +636,7 @@ 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) @@ -654,7 +654,7 @@ 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" ) @@ -795,7 +795,7 @@ 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) @@ -813,7 +813,7 @@ 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" ) @@ -954,7 +954,7 @@ 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) @@ -972,7 +972,7 @@ 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" ) @@ -1113,7 +1113,7 @@ 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) @@ -1131,7 +1131,7 @@ 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" ) @@ -1272,7 +1272,7 @@ 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) @@ -1290,7 +1290,7 @@ 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" ) @@ -1432,7 +1432,7 @@ 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) @@ -1450,7 +1450,7 @@ 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" ) @@ -1591,7 +1591,7 @@ 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) @@ -1609,7 +1609,7 @@ 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" ) @@ -1750,7 +1750,7 @@ 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/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index c7f3e80747e0ab3b1b0abd59150363e2ce8ac634..7e8c72b4b6b62dd5b03013fface50edad2ef2856 100644 --- a/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate25_19a/.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": "2026-10-26T18:17:22", + "timestamp": "2026-11-02T23:08:17", "assets": [ { "asset": "lrmate25-19a.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": "534334adaaf27ad59eb1f8d2dd534462af1e612a30f22f7a5ed95b40ac64a828" + "sha256": "776917c4890f3a94f4d7d02e6fd2db4fbc2a10c38495682d260ed345132820a4" } } diff --git a/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..e17fc503d12b4b4f8b3882fb28171f651d586e88 100644 --- a/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_lrmate25_19a/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:18", "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/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.packaging.bom.json index 2ac4c0aeee3fef0aa46b7d3a502effde91547b51..6f01c1d99fd35f50a7a9a8aa9c2b0d6e11277624 100644 --- a/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate25_19a/.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/fanuc_lrmate25_19a/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_lrmate25_19a/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" } }, { @@ -18,20 +18,12 @@ "sha256": "35777fe4e1309b8122ddaafc88edc5984c8acf25bbf4885f67e93adfe4d728d2" } }, - { - "relative_path": ".thumbs/lrmate25-19a.thumb.usd", - "size": 6128, - "hash": { - "sha256-flat-1mb": "7eb8fd8d0568532ed37918492a384962d8a8b634832ebb586ef09d76eed5125d", - "sha256": "05e872a371b5bd591e4aeb5f25b3e99882a013dd751e067001b5e95d58c338a3" - } - }, { "relative_path": "lrmate25-19a.usda", - "size": 16024, + "size": 81570, "hash": { - "sha256-flat-1mb": "b954657bd19877d022f7dafc9280fa1e13754032d6f8b71870a441bb73d71f92", - "sha256": "080b05aef18b7ee89f62f2302455a8a81ca10f8def23ce076878425187356a1f" + "sha256-flat-1mb": "3f6940b734a6e7aeb5def1680b51de20ba98249146b4283e285ea4ad8ea05310", + "sha256": "1ac0ccd3bf13c1cfce53940f9f2fd60a1e3c104b6ce0e8ea4748732266a415b0" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 44730, + "size": 44794, "hash": { - "sha256-flat-1mb": "9906eb9f44e3399deef1d3d9926520646d296e67fef708b59348f7b0e4999957", - "sha256": "62bb83d84e574562a00378db921f958918ed2400bdc70ba0e822dc279f6514eb" + "sha256-flat-1mb": "5c6c7e0fbd9cef4bbc438bb57161fbe7b1b32ce48f632ab6fcf575599bb66876", + "sha256": "f8e9c64bee6dc983b1d0fa0c679275fcd8c09576aea65df637739fa2be1779c2" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_lrmate25_19a/.simready/validation.json b/fanuc_lrmate25_19a/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_lrmate25_19a/.simready/validation.json +++ b/fanuc_lrmate25_19a/.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": { + 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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/fanuc_lrmate25_19a/.thumbs/lrmate25-19a.thumb.usd b/fanuc_lrmate25_19a/.thumbs/lrmate25-19a.thumb.usd deleted file mode 100644 index be94b9647aa8e51b16ca291ce9316a167d1d26b9..0000000000000000000000000000000000000000 Binary files a/fanuc_lrmate25_19a/.thumbs/lrmate25-19a.thumb.usd and /dev/null differ diff --git a/fanuc_lrmate25_19a/com.nvidia.simready.packaging.json b/fanuc_lrmate25_19a/com.nvidia.simready.packaging.json index 78631763fab6158ce6ef8ec030eedc7d20d97d0e..abd95ac3a177706d8116139499cb651c17670b73 100644 --- a/fanuc_lrmate25_19a/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate25_19a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate25_19a.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate25_19a.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "2ad540616d79f7b8f10d93582d104fda15dfa9dfca4e63448eab8803cc3ef9c6" + "sha256": "2f60b52e33c8bbe3a8f68b9cbe80f31fad7209b6d7d719b6ace766efae570a6f" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "3ee763db67e40811a5f539679900f1b05aadf4391bdb04e07d6bf46e3439f115" + "sha256": "d4d417930c82b12578c1d836c64672eeb44c1c5e635670957d70d6e669066db1" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "9547b24031631e8c78825a824a903cefa5647c622ca3772dc9702119cd4082ae" + "sha256": "776917c4890f3a94f4d7d02e6fd2db4fbc2a10c38495682d260ed345132820a4" }, "package_hash": { - "sha256": "8cc60fd747e2a6915685e40d47ccdfd91e997c636f79be3cc26793a94a766d27" + "sha256": "b4b30353d96477b635071e1f890ff3e72f533b14fe65acd18a85af611bd64afe" } } diff --git a/fanuc_lrmate25_19a/lrmate25-19a.usda b/fanuc_lrmate25_19a/lrmate25-19a.usda index c7196c18559873b5d679d043dd7089fe05e79f1e..f1e4d8196848f7756a15e2753a02a6833f015c64 100644 --- a/fanuc_lrmate25_19a/lrmate25-19a.usda +++ b/fanuc_lrmate25_19a/lrmate25-19a.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/fanuc_lrmate25_19a/payloads/materials.usda b/fanuc_lrmate25_19a/payloads/materials.usda index 631fa916b91b35a758a4b017de68b64f34fb9282..e4bdbe34426c0d1abeee29778f22521b69ec698f 100644 --- a/fanuc_lrmate25_19a/payloads/materials.usda +++ b/fanuc_lrmate25_19a/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 465e333d47d265ead714a02724b21af52f9f0f01..dcf2b2ae090053baad1075d9a40f46cd63110cbe 100644 --- a/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate25_19afc/.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": "2026-10-26T18:17:24", + "timestamp": "2026-11-02T23:08:19", "assets": [ { "asset": "lrmate25-19afc.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": "22a8fffc82aa5c1b350e0b5c1659265dcddbfaca605526b6c73e6ab8b13c73e1" + "sha256": "2af7d09bcf40d31749ca3e7cdf896a117f5c748a53aab7214c935ed9aa2dae1d" } } diff --git a/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..3bed8cd86e462aa905503f056ffe1427c59e9bfd 100644 --- a/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_lrmate25_19afc/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:21", "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/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.packaging.bom.json index 1d5be4fb38676bbedbfd5ec174d8ccd886ee278f..ca2a678b0bffa44b5792e80a195e8944471b9409 100644 --- a/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate25_19afc/.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/fanuc_lrmate25_19afc/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_lrmate25_19afc/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" } }, { @@ -18,20 +18,12 @@ "sha256": "f16d222038452d670f9bec04f33ff5caf22da6cf556ee3f315795f678ba53fee" } }, - { - "relative_path": ".thumbs/lrmate25-19afc.thumb.usd", - "size": 6130, - "hash": { - "sha256-flat-1mb": "cae0472518b742ad72561fdccf4b22450a008f45e490287abbe6ee6f96b6330f", - "sha256": "b59ef1468a281f880d26ba3388a7308150c50ee46ee06018baecf0a0fd586fcd" - } - }, { "relative_path": "lrmate25-19afc.usda", - "size": 16041, + "size": 81587, "hash": { - "sha256-flat-1mb": "02781e51a3d98d432ac0785d5dcebe5700491e8e1bbf7c47fa3e70601059feda", - "sha256": "47ee5dac5c8ced2fefd65fb913236996baded286538d0d448aca16067554f70f" + "sha256-flat-1mb": "769b264f6dfa13e7624b8a8eb896b48ba375ffe01da6620127714d3f51523afb", + "sha256": "9748ddf6e3372dae5b8f543be0b286e5c264d3b5609e3a68785156b158b7d454" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 55902, + "size": 55982, "hash": { - "sha256-flat-1mb": "798be0e8abce4b0edc88de08f78698cbc98e45229fe8e65d66d8829ed8813025", - "sha256": "abb69be4a11f00744d9a726884762e0cacefdbfe8b40837d2d830b605998e792" + "sha256-flat-1mb": "9434b6beb1191fe270c2eb36644abe282102b8a2db80d09c014ebc4511b2ab96", + "sha256": "e3f0752a5622430ef19b448c89abffca31c02bb8102908f4eab065f545bfa23b" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_lrmate25_19afc/.simready/validation.json b/fanuc_lrmate25_19afc/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_lrmate25_19afc/.simready/validation.json +++ b/fanuc_lrmate25_19afc/.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": 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"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/fanuc_lrmate25_19afc/.thumbs/lrmate25-19afc.thumb.usd b/fanuc_lrmate25_19afc/.thumbs/lrmate25-19afc.thumb.usd deleted file mode 100644 index 93a05c07d6d8af5bef239c2aa8c7d65a8af6f97f..0000000000000000000000000000000000000000 Binary files a/fanuc_lrmate25_19afc/.thumbs/lrmate25-19afc.thumb.usd and /dev/null differ diff --git a/fanuc_lrmate25_19afc/com.nvidia.simready.packaging.json b/fanuc_lrmate25_19afc/com.nvidia.simready.packaging.json index 946fce251633d44683b95033c8f0cf0eb4c0c754..97e663427cce77dd6f3fd049db056a4951cb4cd6 100644 --- a/fanuc_lrmate25_19afc/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate25_19afc/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate25_19afc.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate25_19afc.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "60eb4b6977a74195f4ed715beb17cc02ecb58adeef3b1c3ff0e62d9b2a9a697c" + "sha256": "60c84d8ec209a6e567555331c6a25c80fc3d24097895019d5e184cff23c603a1" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "7ad381e715ed29b54693ee633b13d7e63714c00cf1cbefaa596f23b24188810f" + "sha256": "e403819ffebba289e60f66ee013019c957b09af084c3494c8bb596a8898c4ca8" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "e760bad54647b8551572771944884233b0436e02c14fc7a1b2370f625a03bce0" + "sha256": "2af7d09bcf40d31749ca3e7cdf896a117f5c748a53aab7214c935ed9aa2dae1d" }, "package_hash": { - "sha256": "890fdd52d17e6062be3180d2be0ae4145ecc0276916c19a6b21e1a5367866c28" + "sha256": "9b6e71a2d640cb9043e424b332c07dff693f750ca27310562313fe9111efa6ee" } } diff --git a/fanuc_lrmate25_19afc/lrmate25-19afc.usda b/fanuc_lrmate25_19afc/lrmate25-19afc.usda index 8b8cabf0e972099fb46f6307eed2a3d0eafe1a4b..d584c766d5a820676dad1db4eb248c24c4b0941d 100644 --- a/fanuc_lrmate25_19afc/lrmate25-19afc.usda +++ b/fanuc_lrmate25_19afc/lrmate25-19afc.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/fanuc_lrmate25_19afc/payloads/materials.usda b/fanuc_lrmate25_19afc/payloads/materials.usda index ad97b672c5b13eac703a760d6285bc714e203dcb..2f045b2edc27e902fb18a5eacca3524aa6185ff4 100644 --- a/fanuc_lrmate25_19afc/payloads/materials.usda +++ b/fanuc_lrmate25_19afc/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1430,7 +1430,7 @@ 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) @@ -1448,7 +1448,7 @@ 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" ) @@ -1591,7 +1591,7 @@ 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/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 6b3f23aeb7e5ea0123f7f8ec270e9b27e1760e8a..11631a3bdcbd1557e6c21b996ac9449323d03a35 100644 --- a/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate35_14a/.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": "2026-10-26T18:17:27", + "timestamp": "2026-11-02T23:08:22", "assets": [ { "asset": "lrmate35-14a.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": "1eeb97de3389fc26e1d1c42820e44ad72c401a3f91f35c41781b21428dfe330b" + "sha256": "6cc59848e4dca25b3dd759aa7d612043f7eab159eff8e517cd5c6a9c164f9da8" } } diff --git a/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..12572ab70934052854c77f3e6bbadba6ce196f26 100644 --- a/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_lrmate35_14a/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:24", "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/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.packaging.bom.json index ad9e0eb6205c595fbbcb68b5ad7af28851beb19b..95f4a99a0ccfaafaa73fe6cfbdf2fbec124f9200 100644 --- a/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate35_14a/.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/fanuc_lrmate35_14a/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_lrmate35_14a/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" } }, { @@ -18,20 +18,12 @@ "sha256": "b058ba130108d02f0ac93115bf00a73a717d065d6b7766dc6e26c6e1c8af293c" } }, - { - "relative_path": ".thumbs/lrmate35-14a.thumb.usd", - "size": 6128, - "hash": { - "sha256-flat-1mb": "d7a95486c0bb2a29e2f6247e2672fbb89848c4f9c7abc7d1030a64f7aa6d8b9b", - "sha256": "10ce62ea7169ef9f826938a47ee2d5e8df86f4538dde05aeb84ebbe34f422134" - } - }, { "relative_path": "lrmate35-14a.usda", - "size": 16025, + "size": 81571, "hash": { - "sha256-flat-1mb": "6da82fed78fdaec1d122ffccbd5518b56f668a1850e418829fa9d8dfd74cdd45", - "sha256": "6d9e47b63ee845db74bcb520d94ad9d4cf09d6633f70779663c438cd170fddc4" + "sha256-flat-1mb": "1a8dee2f11c4fec10981fcc2c5895051bc0878dbda5db8a49056ee8bc096dc2f", + "sha256": "9e8f230dfb9de7d404321224990c572d63d768c4c7f1633a129193e5eeba8765" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 50281, + "size": 50353, "hash": { - "sha256-flat-1mb": "4f962c374db9066b025ec54b20c06e48d080051cdadcbf099909257df035a8ae", - "sha256": "bf797a4660a05464dd893a56d4a5b5a6560f2cd4f77ca2b9514c83a92d379e5d" + "sha256-flat-1mb": "4295a4d00f6a6c97af1c99f0cc05c9a3df8b63dbead02b9ac00977e1e951c624", + "sha256": "db204a90d3769c27e12b522bfaa90f6c336183af6ce46a52b2c8d0c62eee318d" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_lrmate35_14a/.simready/validation.json b/fanuc_lrmate35_14a/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_lrmate35_14a/.simready/validation.json +++ b/fanuc_lrmate35_14a/.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", + "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": 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a/fanuc_lrmate35_14a/.thumbs/lrmate35-14a.thumb.usd b/fanuc_lrmate35_14a/.thumbs/lrmate35-14a.thumb.usd deleted file mode 100644 index 120826e883124a67d93460ede92ca80053be8864..0000000000000000000000000000000000000000 Binary files a/fanuc_lrmate35_14a/.thumbs/lrmate35-14a.thumb.usd and /dev/null differ diff --git a/fanuc_lrmate35_14a/com.nvidia.simready.packaging.json b/fanuc_lrmate35_14a/com.nvidia.simready.packaging.json index 809d6faa44518c4e9c4eb3bd7edb8f1d5b63128d..c763c6fe2156f375479696ee95e632102dd69cfa 100644 --- a/fanuc_lrmate35_14a/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate35_14a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate35_14a.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate35_14a.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "b6eacfea77284d9b578db302b3e464bdc9b3daf4f2f515810d3fc9c9170bca92" + "sha256": "cad77525653c6d4fde9efde2146ac694f906f7bd03309dca0789a95d80745d4b" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "8ec772fa77a68b0e1874e5572c91b7d6d2151aba650a69f60a4a5d6585c51895" + "sha256": "f80a3b288d864d5af96967decafc1db6e1343473593cbdd2bbe52f03ed603520" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "52835fc818fc729c75c9f72e5a560d8132b916df52c74f3063a885190f61d4a0" + "sha256": "6cc59848e4dca25b3dd759aa7d612043f7eab159eff8e517cd5c6a9c164f9da8" }, "package_hash": { - "sha256": "f8bcc897bd7204683c948796364a25eee7bde7544530d4847224b673391b5f54" + "sha256": "b5e2210c33a55165d5b79a35c30c41fa720e421517aa30e11855b84b12f714fb" } } diff --git a/fanuc_lrmate35_14a/lrmate35-14a.usda b/fanuc_lrmate35_14a/lrmate35-14a.usda index fac82dbb174e4612b0e725b212097120ac361e0e..114e075edf6ea038606f89753e0ee7e4671a5aad 100644 --- a/fanuc_lrmate35_14a/lrmate35-14a.usda +++ b/fanuc_lrmate35_14a/lrmate35-14a.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/fanuc_lrmate35_14a/payloads/materials.usda b/fanuc_lrmate35_14a/payloads/materials.usda index c48bf6b3acd93dd0dd207727e0e865ddeb3858e4..7eb6057f6a86ec5b3a2e6460f3468f7273e9153c 100644 --- a/fanuc_lrmate35_14a/payloads/materials.usda +++ b/fanuc_lrmate35_14a/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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/fanuc_m10_10_16d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m10_10_16d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index d7ae28b9338aa5ab9678dab7486c71416b8220f3..378076f618f914f8c7cfe9451dc7c9954b18dad5 100644 --- a/fanuc_m10_10_16d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m10_10_16d/.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": "2026-10-26T18:17:42", + "timestamp": "2026-11-02T23:08:42", "assets": [ { "asset": "m10_10-16d.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": "8143f6787cc088a4ec88f7b724ca10a68bb3d739658abbd9dd587854bb9bda06" + "sha256": "ca4d7a7f6ad9582d6fdb6dcdada3497512a6aa9bd143a1cc77fd7a1949197dbd" } } diff --git a/fanuc_m10_10_16d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m10_10_16d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..71e8f35cbf919cfc1f936e8ad9b9e16c4d0249ff 100644 --- a/fanuc_m10_10_16d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m10_10_16d/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:43", "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/fanuc_m10_10_16d/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m10_10_16d/.metadata/com.nvidia.simready.packaging.bom.json index 1d8c22a33f6e94f31682f05fc909d97d44d2b0fb..04e90548d0cc5554b07113e248c57cb32a0875b2 100644 --- a/fanuc_m10_10_16d/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m10_10_16d/.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/fanuc_m10_10_16d/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m10_10_16d/3.0.0", "items": [ { "relative_path": 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"/.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/fanuc_m10_10_16d/.thumbs/m10_10-16d.thumb.usd b/fanuc_m10_10_16d/.thumbs/m10_10-16d.thumb.usd deleted file mode 100644 index 6730e7b43b965758280f224cd8bb70b8d1f9100a..0000000000000000000000000000000000000000 Binary files a/fanuc_m10_10_16d/.thumbs/m10_10-16d.thumb.usd and /dev/null differ diff --git a/fanuc_m10_10_16d/com.nvidia.simready.packaging.json b/fanuc_m10_10_16d/com.nvidia.simready.packaging.json index b64d57f162af2e320659a453f9d56c6426b11327..b4aa727f15267a2ef53e12524445786727e24910 100644 --- a/fanuc_m10_10_16d/com.nvidia.simready.packaging.json +++ b/fanuc_m10_10_16d/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m10_10_16d.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m10_10_16d.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "25484980ab2cb71e95650280e7baaf17e579425ed5470820a236b178dd1ad243" + "sha256": "bf7cf36cd19c09e2e66bc0a4b906ecac1157041447def4a18e4b672bbb7cbfea" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "c17a1bc0c965040c4b0a017826c3beb2e093bfcf147c3b3f8f87c83631822cf4" + "sha256": "54bfaa01374281673c12592ff1b48467f0c7be985e38a2b9b563297cff570238" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "ec8448899d5e1ddf737623104ccb5079379dc246f1efa28e7d64c5a3c322683e" + "sha256": "ca4d7a7f6ad9582d6fdb6dcdada3497512a6aa9bd143a1cc77fd7a1949197dbd" }, "package_hash": { - "sha256": "54ad980c6ba163f173fd09d72363eba6af69d1b45944b1b78de844308e559f77" + "sha256": "0319cfd87929b6f864b76ec3799dede33f2935744ee7cd7a29c11741bd9ea019" } } diff --git a/fanuc_m10_10_16d/m10_10-16d.usda b/fanuc_m10_10_16d/m10_10-16d.usda index 1b8c4cabd064e81c22f67f6b5f3b74c25f5ce322..ebcd6f53a562bcf0ffcfd370119a4986c0f6c012 100644 --- a/fanuc_m10_10_16d/m10_10-16d.usda +++ b/fanuc_m10_10_16d/m10_10-16d.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/fanuc_m10_10_16d/payloads/materials.usda b/fanuc_m10_10_16d/payloads/materials.usda index f7ccff4591885d44c7253bfab2c1d28753d64fb1..2be03b131d7129e0cc4bcec7828fd9821838fa6f 100644 --- a/fanuc_m10_10_16d/payloads/materials.usda +++ b/fanuc_m10_10_16d/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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/fanuc_m10_12_14d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m10_12_14d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index bc562572e99cda8f6daf521e7240472a87167299..7174018a141f50648a4e86793fe1cbea0013118e 100644 --- a/fanuc_m10_12_14d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m10_12_14d/.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": "2026-10-26T18:17:44", + "timestamp": "2026-11-02T23:08:44", "assets": [ { "asset": "m10_12-14d.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": "aead8ab44e1c194dc72c3a7063334e1bbc19683f0ae630d6912270e071c72893" + "sha256": "64a611b0255dd424ad2a851d3bc9d8ced9df066d704fb591fd058910b44da3b7" } } diff --git a/fanuc_m10_12_14d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m10_12_14d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..ee5ce46171d45891b624242ec1125d9d0edea6a5 100644 --- a/fanuc_m10_12_14d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m10_12_14d/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:46", "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/fanuc_m10_12_14d/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m10_12_14d/.metadata/com.nvidia.simready.packaging.bom.json index 3f566da85488e15a2ae3744c5a630bc10c401282..e96dacd762c081a78e43d8fb3e740aa2c03b9f81 100644 --- a/fanuc_m10_12_14d/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m10_12_14d/.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/fanuc_m10_12_14d/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m10_12_14d/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" } }, { @@ -18,20 +18,12 @@ "sha256": "1882e769be17d211a05b2d38ff1b9b0fbd21d98f6d3c4ec6a08066dd9373cb27" } }, - { - "relative_path": ".thumbs/m10_12-14d.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "8c0d76d4e79ba5b112f57efca49f91d45a2c924c14bcdd552c5bb69f190ee878", - "sha256": "d860eaf65b47297ca7fa9033829acb4aaf2e3992f2fb7c4c257973b8c4a1897e" - } - }, { "relative_path": "m10_12-14d.usda", - "size": 16005, + "size": 81551, "hash": { - "sha256-flat-1mb": "eb77d7e62b35c9e84410ffcb0de9b8be7682dfda58f9ae4e1414ee93eacc2675", - "sha256": "0951e7275c6bd4ce19c9fe00786b7cf38632a77aa6543f17727de9250e03a7f0" + "sha256-flat-1mb": "e6e2031bd802ab301afa0770ba6ca93c897afb42a5e2e14865be81914f95c27c", + "sha256": "7c0b50a93c1462d2a9fb3eccc20489663c8292616e372116143171de22b4eb0f" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 52031, + "size": 52103, "hash": { - "sha256-flat-1mb": "e7c4ee7d27d2ee9d14a67986f07afa969e523aab36de6e602e1e3a8fd3c159ad", - "sha256": "bee0e0411744759afb106a58ce33c7ce0f1f8d5142a050e2703eb4b2f1c5fad2" + "sha256-flat-1mb": "1017baf61c193ab26055ffa6ce4fa4bdfa459b8fcc11e9be6a0e7486e29144eb", + "sha256": "192e8b6d2d5a5e0cb4cdf6ee7ac89de63957f65c8aaa31bfc1e7d6a08f387046" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m10_12_14d/.simready/validation.json b/fanuc_m10_12_14d/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_m10_12_14d/.simready/validation.json +++ b/fanuc_m10_12_14d/.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", + "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": 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"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/fanuc_m10_12_14d/.thumbs/m10_12-14d.thumb.usd b/fanuc_m10_12_14d/.thumbs/m10_12-14d.thumb.usd deleted file mode 100644 index 54dbf4658fe396b7438b76e423ed2552ea19c561..0000000000000000000000000000000000000000 Binary files a/fanuc_m10_12_14d/.thumbs/m10_12-14d.thumb.usd and /dev/null differ diff --git a/fanuc_m10_12_14d/com.nvidia.simready.packaging.json b/fanuc_m10_12_14d/com.nvidia.simready.packaging.json index b37f697d419b43c82c185e489f3fbba3e0d1cf64..bf2270c45a42d19689a7b2fc8cd549fc56e2429d 100644 --- a/fanuc_m10_12_14d/com.nvidia.simready.packaging.json +++ b/fanuc_m10_12_14d/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m10_12_14d.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m10_12_14d.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "acc44c9668aa05db11edbb7a2503da66dddccc80a57dfb29ad8506e8684cae26" + "sha256": "9931aa3b62a2166386f448a3a65ef3306c457f16b5597c070978a3b50bf4e84a" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "40815514bd169e0b27e3dfcede049ec86f23091ad099bacd3aa9a03bee2f84f1" + "sha256": "abb665263ed18a4ae54415de4a3011ba93a4e1fbc3f9eddb422c212022410213" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "145f4e237566db6f66e06ef3baac1dcca9a0848c107f7af9bde420ef3bfb1b75" + "sha256": "64a611b0255dd424ad2a851d3bc9d8ced9df066d704fb591fd058910b44da3b7" }, "package_hash": { - "sha256": "0256bd0d1d00cbaf6bb42384e5c7e43fb7e20967f42caa9c7bea1a37a4081bc2" + "sha256": "8be8f0ae8a363c589412bedf475c3d5f80130b6a5de6cb5f95c0e2ae7f342bd0" } } diff --git a/fanuc_m10_12_14d/m10_12-14d.usda b/fanuc_m10_12_14d/m10_12-14d.usda index b81e50c35c5967e869c13f589505f20216f86cb0..f5f0c6929b24edc1b26f99b7e1f27c38dfd23956 100644 --- a/fanuc_m10_12_14d/m10_12-14d.usda +++ b/fanuc_m10_12_14d/m10_12-14d.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/fanuc_m10_12_14d/payloads/materials.usda b/fanuc_m10_12_14d/payloads/materials.usda index c04088f210e3af02038cd732ac4af73fb7772715..6b5674faf6c2760ee657204536a573e4876f12be 100644 --- a/fanuc_m10_12_14d/payloads/materials.usda +++ b/fanuc_m10_12_14d/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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/fanuc_m10_16_11d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m10_16_11d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index f5abee4974836a3e46d0dbf2dbd45ec0e17b385d..92d0e221208ac5478caff038b7d7a1c277b22cea 100644 --- a/fanuc_m10_16_11d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m10_16_11d/.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": "2026-10-26T18:17:47", + "timestamp": "2026-11-02T23:08:47", "assets": [ { "asset": "m10_16-11d.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": "3e13d52ca6180c26792ee379d12e90f48834a35681798000c1a628cae6056d9f" + "sha256": "306c37209b2d5ea1e168fee0b99a0ad21b48246c34938debaf9d72823f9c09ea" } } diff --git a/fanuc_m10_16_11d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m10_16_11d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..078df0f35c14aa2b4338f6798655fd5631608625 100644 --- a/fanuc_m10_16_11d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m10_16_11d/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:49", "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/fanuc_m10_16_11d/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m10_16_11d/.metadata/com.nvidia.simready.packaging.bom.json index 5d779a9b0cbc4d78b76de3a06628db5b8a63aa8c..909e1b449bd65a95cfb4ae782fbeeaf21ddf562c 100644 --- a/fanuc_m10_16_11d/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m10_16_11d/.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/fanuc_m10_16_11d/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m10_16_11d/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" } }, { @@ -18,20 +18,12 @@ "sha256": "66af39ec0ef1b0a8535ff7fef49d17f6e05d5016e25ae1ae892d9055ff6972e5" } }, - { - "relative_path": ".thumbs/m10_16-11d.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "d645595509f5333e236f577893831ca3ac34a7be348474b2bc8650e979fd6539", - "sha256": "cc66c0544a2e6cd0b97c17af3862cc991b8bb84e88ed2ca8a29eede41d4af10c" - } - }, { "relative_path": "m10_16-11d.usda", - "size": 15136, + "size": 80682, "hash": { - "sha256-flat-1mb": "d1465973107e1300c10c21600a90d46933fb3bfadf8692e3533117946fcbd0d0", - "sha256": "a0e160efc32a367b88c18064d5746e7a03321c325d303eb4a13170e1e80f3edf" + "sha256-flat-1mb": "93c41ae6d03b1c09bbe1eb3f052c3e49241851f4b22b46fa6b52bb9ddf4e8ce9", + "sha256": "b04c133aa8447b9b9225544af9a7fe676a90c0cdc7a91988ac9cfd77b0007db0" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 46222, + "size": 46286, "hash": { - "sha256-flat-1mb": "c6b62adb645560e801b7f4e8a80467f575a6db46d800246594e63808cb108c3b", - "sha256": "8c614176f5c18a0d491c0e81b485f360768c85375b11aa9721b540c41e73dedc" + "sha256-flat-1mb": "977b3b96e3ef3ddf0f139619cffd7979e4a1cb26b4e7a9d6a050a8107ebb9bcb", + "sha256": "b778b377519aec1ae452816ceaa4bc944943f88aa58f08517910b24a5332faea" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m10_16_11d/.simready/validation.json b/fanuc_m10_16_11d/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_m10_16_11d/.simready/validation.json +++ b/fanuc_m10_16_11d/.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", + "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", + 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a/fanuc_m10_16_11d/.thumbs/m10_16-11d.thumb.usd b/fanuc_m10_16_11d/.thumbs/m10_16-11d.thumb.usd deleted file mode 100644 index 9e0c2e3f684e2880aa872e3f693c847f4b5eded6..0000000000000000000000000000000000000000 Binary files a/fanuc_m10_16_11d/.thumbs/m10_16-11d.thumb.usd and /dev/null differ diff --git a/fanuc_m10_16_11d/com.nvidia.simready.packaging.json b/fanuc_m10_16_11d/com.nvidia.simready.packaging.json index ed7a8bcf089949f07ca23fd54d09f50bce442a4f..f62876f98f432e3fc3b47f7c7926eef40a9cb6f1 100644 --- a/fanuc_m10_16_11d/com.nvidia.simready.packaging.json +++ b/fanuc_m10_16_11d/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m10_16_11d.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m10_16_11d.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "f91c8b437cb19aca1971027afc96b24597f34fe9611a62a170602d897c678f02" + "sha256": "a65fb3bf2acde1c1d2236819b1d0f1ae9faa4614276e6d3e5c8ee05a58485240" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "607b22d57252f388639d826f3b00d0f472c4f8ab243eda2056e5297f4ea67134" + "sha256": "ba17a068b600e68f0fe2d117c35abb5859d3b8ebd94e81327dabe52ba7f59abf" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "519d4e944fbba6cb496fa01ad36754fdd38a4ec00105ba3d2c56d9c33170555b" + "sha256": "306c37209b2d5ea1e168fee0b99a0ad21b48246c34938debaf9d72823f9c09ea" }, "package_hash": { - "sha256": "9a924d42d4b0478aec4bc90079e4a35ebbdd778a2477763bbe2fb28f5940814f" + "sha256": "f3ed5ac4be50ac28677bf6b0c2ddf1c1f2e1657971f7f37a17a036e36e1b503b" } } diff --git a/fanuc_m10_16_11d/m10_16-11d.usda b/fanuc_m10_16_11d/m10_16-11d.usda index 7e6cb53ec41ec3042d3a7bb0a3a7c3ed111003be..7bf51facb286941111971cbbb86ac6fdfda21eb7 100644 --- a/fanuc_m10_16_11d/m10_16-11d.usda +++ b/fanuc_m10_16_11d/m10_16-11d.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/fanuc_m10_16_11d/payloads/materials.usda b/fanuc_m10_16_11d/payloads/materials.usda index 380046d9218307ff94cb9d603a3b7f9b68b80604..15894200f1fc2d09c8530f725922caaa9b661e9a 100644 --- a/fanuc_m10_16_11d/payloads/materials.usda +++ b/fanuc_m10_16_11d/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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/fanuc_m10_8_20d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m10_8_20d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index ba417a15d0c20c241fc4a1ef916df8d8c26cb175..664d19744152c460c14916e14cfa8f4bc5337079 100644 --- a/fanuc_m10_8_20d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m10_8_20d/.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": "2026-10-26T18:17:49", + "timestamp": "2026-11-02T23:08:50", "assets": [ { "asset": "m10_8-20d.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": "784ac4eec7eb1ff4b3a2df965fc0258fa674e7d09ec20e275041535a3a745463" + "sha256": "48725716674752cff3fc9ecdc3b59003ffa0d46b269cfe81788adb032d1106e8" } } diff --git a/fanuc_m10_8_20d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m10_8_20d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..e02b0a810c5879e260085fb6a8c82e19919a07d5 100644 --- a/fanuc_m10_8_20d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m10_8_20d/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:52", "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/fanuc_m10_8_20d/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m10_8_20d/.metadata/com.nvidia.simready.packaging.bom.json index 0c8f701c73d5c1a891f1d724b10646fbbc93e2c9..3a7ed58c23d21e8e4e479442b47c4710aa976672 100644 --- a/fanuc_m10_8_20d/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m10_8_20d/.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/fanuc_m10_8_20d/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m10_8_20d/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" } }, { @@ -18,20 +18,12 @@ "sha256": "16a09c5321526d9292d84b2c5c5a96f69dc0da0a568074ea96d5ad10262ae4c6" } }, - { - "relative_path": ".thumbs/m10_8-20d.thumb.usd", - "size": 6126, - "hash": { - "sha256-flat-1mb": "6b002327c6562908b5dd454196b00a17e3c5c4b62fe1d56a13ad7d826558ccab", - "sha256": "1d8a79cb39c1b199b37764b5350159da785e146b2913b0bbbd5876a20acb3834" - } - }, { "relative_path": "m10_8-20d.usda", - "size": 16001, + "size": 81547, "hash": { - "sha256-flat-1mb": "0bbd4584a0ee0b0968d6706985f4c64ca160c50fe44aeccba2ef002a969332ff", - "sha256": "ed9430b26a84cf50c264c9b8c312f1858428d512df1fac3bbe2e799d2c5f2c52" + "sha256-flat-1mb": "2186be54bb995ccb7f2c58b8a63d50737149a2b2acd0397ed08132e9eb41946d", + "sha256": "fcb4cce425fb45635f6512cd7a804eb81a89c44a4e2f8eb3be59b8897b002e45" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 57831, + "size": 57911, "hash": { - "sha256-flat-1mb": "c4a804900f41ed6d029836425a768e27fadef0e217b2f71f6b223d2fb4dd903c", - "sha256": "d1c088118a84622b89c2b6e0e40d73b765f55bbfcf9737c9d08f5d8ad9662d87" + "sha256-flat-1mb": "3255bb399b07f5467e64bc056f5d421e1b2796c6e9adbdca7dc3f76658879afe", + "sha256": 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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/fanuc_m10_8_20d/.thumbs/m10_8-20d.thumb.usd b/fanuc_m10_8_20d/.thumbs/m10_8-20d.thumb.usd deleted file mode 100644 index 0151259f8e760c3ced83a5c3363269a7f4f49d59..0000000000000000000000000000000000000000 Binary files a/fanuc_m10_8_20d/.thumbs/m10_8-20d.thumb.usd and /dev/null differ diff --git a/fanuc_m10_8_20d/com.nvidia.simready.packaging.json b/fanuc_m10_8_20d/com.nvidia.simready.packaging.json index 9db9258ffe612e98bec8748eb944d7996efeb44b..5c5f02666560edf2e97999ddf61b8c4b4b4d5c8c 100644 --- a/fanuc_m10_8_20d/com.nvidia.simready.packaging.json +++ b/fanuc_m10_8_20d/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m10_8_20d.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m10_8_20d.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "64184506860d9bc5fb935a2c89eddcaf0de2a61c4cc79280284a198830c83e6f" + "sha256": "2c06bd9390d9c5399422b9ddac8d185a11a703d77fff5b2135406554595aaa32" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "12484bc9964e30ed06a0079030706622ffc9b5c1de334d0ab40519d4e19cc638" + "sha256": "8ac6e3b88b1eda96e1538b0fb3ba12ee7e322313c7bb0da3b162e2b75faed317" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "ec469b6a1dca1c5b892cefdfcb597e3ca7b16844f7904dbfc1d1dfb47795db78" + "sha256": "48725716674752cff3fc9ecdc3b59003ffa0d46b269cfe81788adb032d1106e8" }, "package_hash": { - "sha256": "4787f32cb8e8c201da1d8e91326e329dfb63a31e65e6dc00ff24549a7a253830" + "sha256": "f72b6123a5441b38d88f3a71dbdfd10be7b373996217019d519036b01c5686f8" } } diff --git a/fanuc_m10_8_20d/m10_8-20d.usda b/fanuc_m10_8_20d/m10_8-20d.usda index 86e66605e4f5388cdedb85f9eb6c76225ba0094c..11bda7d4bb3a83f6730e29ede4d416a2fe8bd38b 100644 --- a/fanuc_m10_8_20d/m10_8-20d.usda +++ b/fanuc_m10_8_20d/m10_8-20d.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/fanuc_m10_8_20d/payloads/materials.usda b/fanuc_m10_8_20d/payloads/materials.usda index d310ad2c06c0d28da92adee6b156871fa40954b0..7dc91845a2018af79e8ac2763485e3bc56481d0c 100644 --- a/fanuc_m10_8_20d/payloads/materials.usda +++ b/fanuc_m10_8_20d/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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/fanuc_m20_12_23d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m20_12_23d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index b745387350cbb33a9e205e81ac36f5622c0b53eb..f2a33ba4a32cebc1ac444cb69bb258a1fc6a3c70 100644 --- a/fanuc_m20_12_23d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m20_12_23d/.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": "2026-10-26T18:17:51", + "timestamp": "2026-11-02T23:08:53", "assets": [ { "asset": "m20_12-23d.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": "de5bd073a61d15c75f0191ee402ce8143c0d7209e7a346c38a0075dd9afdbdf6" + "sha256": "7dd2446b770220e545ef586dffe7cebe2ce3614639f59c663890d73fb341ae26" } } diff --git a/fanuc_m20_12_23d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m20_12_23d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..8f8f3510133e810cb7fb770c0e6e84584d81e46e 100644 --- a/fanuc_m20_12_23d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m20_12_23d/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:55", "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/fanuc_m20_12_23d/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m20_12_23d/.metadata/com.nvidia.simready.packaging.bom.json index ba271da85932aaeae3f85928536bd37c5d75a8ab..ada82e38a8d42fe21531dc3fcadd17c7cf8b4760 100644 --- a/fanuc_m20_12_23d/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m20_12_23d/.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/fanuc_m20_12_23d/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m20_12_23d/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" } }, { @@ -18,20 +18,12 @@ "sha256": "11ae42c895afa60fc81f3a228e6e0eace2f1df46a9d7dee796c1ce4a777a2d9e" } }, - { - "relative_path": ".thumbs/m20_12-23d.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "73f28f09d54223d636d706fb66bd00bd5a814cfa845c76ce6b76d0d4c013845e", - "sha256": "ec0dce56267aa8ae10f588ad20c97c059e70de5a786196c0f3b57288010c27aa" - } - }, { "relative_path": "m20_12-23d.usda", - "size": 16007, + "size": 81553, "hash": { - "sha256-flat-1mb": "fa69437514ba7daca379a3fdd39b783c5cbae3a3382517938b7dfac908cb9210", - "sha256": "af0ec89292d56239c234049460ddbfd9cc4e6e66986f5cd3bb90cb5984b5eba3" + "sha256-flat-1mb": "6153f3b3f4ab01a83f56d7ddf76d06f3c1354e424572281ff58e71db074e1aaa", + "sha256": "9d13946dece8bbbb247197fed60d5617a1d792b3c4217429da2e60d22dc5f003" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 133094, + "size": 133278, "hash": { - "sha256-flat-1mb": "04905679e51030254d6a6d2eb6991dfd3a47f99ec85d5bb9b59a9d2f4305a66d", - "sha256": "5674bf1d959b09739691e55f5fa622907fc7a350331c8f5e6ddb3bd5bad4647a" + "sha256-flat-1mb": "6ec8ffddfcb4cf480da750a0f2abde2ee56500a042960095d1c613a81678824a", + "sha256": "96cee497a46ffaa8dd9aacf4678e159026bbb5d4ba85ff3b85e90d69b30dbd84" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m20_12_23d/.simready/validation.json b/fanuc_m20_12_23d/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_m20_12_23d/.simready/validation.json +++ b/fanuc_m20_12_23d/.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", + "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" + }, + 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"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/fanuc_m20_12_23d/.thumbs/m20_12-23d.thumb.usd b/fanuc_m20_12_23d/.thumbs/m20_12-23d.thumb.usd deleted file mode 100644 index 6a3cf6c17fd64d94799e25a9327d430636e25c88..0000000000000000000000000000000000000000 Binary files a/fanuc_m20_12_23d/.thumbs/m20_12-23d.thumb.usd and /dev/null differ diff --git a/fanuc_m20_12_23d/com.nvidia.simready.packaging.json b/fanuc_m20_12_23d/com.nvidia.simready.packaging.json index 8d2e66a336f84954942dd1bbcc4a019023ce90b3..e01c2eb5664cd888493217f9f033752559d1cc6b 100644 --- a/fanuc_m20_12_23d/com.nvidia.simready.packaging.json +++ b/fanuc_m20_12_23d/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m20_12_23d.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m20_12_23d.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "52a93411024a42d9e90edc767229fe34c6f96096f273b37c2581365d64a79f26" + "sha256": "5a49667aa73b3c27e71e68182cda30592f333e4b86a40c4ed6699e2bafc91912" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "29ec15cd243b17154127f22013adc26c09bd8c6d9f1eab5b9fa0362a2427e3ac" + "sha256": "b200bb1a62636cb8f082867fa261dbe19d1a74fcf592a50fb3dfce2098dbc65f" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "2c0ee0ab4065f6f831fd5d43f3ae72fae4d0dd6cf678ef80d6f87119f9a2a017" + "sha256": "7dd2446b770220e545ef586dffe7cebe2ce3614639f59c663890d73fb341ae26" }, "package_hash": { - "sha256": "60628128102edb7d48fc3f9364e33edd9418851db27f004b0df71638e2a659e1" + "sha256": "2eb1146cbc023dfceaa1fceae6c4488f1f05b8d397a2e809dc4a6961b5c07a9a" } } diff --git a/fanuc_m20_12_23d/m20_12-23d.usda b/fanuc_m20_12_23d/m20_12-23d.usda index 7608aac3376b04be0cae376cdb78230883e295a0..885ec654bfea1638a6a9bf47807407fde0feae2a 100644 --- a/fanuc_m20_12_23d/m20_12-23d.usda +++ b/fanuc_m20_12_23d/m20_12-23d.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/fanuc_m20_12_23d/payloads/materials.usda b/fanuc_m20_12_23d/payloads/materials.usda index f4d7af1968486ad1d61c0c7ea9dc8cb93761dd79..18eab6fac9a48a05c54d8441db7de5b91ccf14d3 100644 --- a/fanuc_m20_12_23d/payloads/materials.usda +++ b/fanuc_m20_12_23d/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1133,7 +1133,7 @@ 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) @@ -1154,7 +1154,7 @@ 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" ) @@ -1295,7 +1295,7 @@ 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) @@ -1316,7 +1316,7 @@ 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" ) @@ -1457,7 +1457,7 @@ 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) @@ -1478,7 +1478,7 @@ 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" ) @@ -1619,7 +1619,7 @@ 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) @@ -1640,7 +1640,7 @@ 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" ) @@ -1781,7 +1781,7 @@ 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) @@ -1802,7 +1802,7 @@ 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" ) @@ -1943,7 +1943,7 @@ 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) @@ -1964,7 +1964,7 @@ 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" ) @@ -2105,7 +2105,7 @@ 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) @@ -2126,7 +2126,7 @@ 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" ) @@ -2267,7 +2267,7 @@ 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) @@ -2288,7 +2288,7 @@ 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" ) @@ -2429,7 +2429,7 @@ 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) @@ -2450,7 +2450,7 @@ 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" ) @@ -2591,7 +2591,7 @@ 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) @@ -2612,7 +2612,7 @@ 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" ) @@ -2753,7 +2753,7 @@ 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) @@ -2774,7 +2774,7 @@ 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" ) @@ -2915,7 +2915,7 @@ 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) @@ -2936,7 +2936,7 @@ 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" ) @@ -3077,7 +3077,7 @@ 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) @@ -3098,7 +3098,7 @@ 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" ) @@ -3239,7 +3239,7 @@ 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) @@ -3260,7 +3260,7 @@ 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" ) @@ -3401,7 +3401,7 @@ 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) @@ -3422,7 +3422,7 @@ 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" ) @@ -3563,7 +3563,7 @@ 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) @@ -3584,7 +3584,7 @@ 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" ) @@ -3725,7 +3725,7 @@ 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/fanuc_m20_25_18d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m20_25_18d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 8a3836463e6d9f272172bc828e68c8accd85e126..f26eabe401f529684fcc62c51e680a7d58039f10 100644 --- a/fanuc_m20_25_18d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m20_25_18d/.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": "2026-10-26T18:17:53", + "timestamp": "2026-11-02T23:08:55", "assets": [ { "asset": "m20_25-18d.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": "548da30f204ad93e97d033ec6d03011f98e2603620254d30e5f13327ecdc6550" + "sha256": "c8334da80f657a6df14f86a0cfb83121bef236268a35d76bf0a4f97eeb0cb20b" } } diff --git a/fanuc_m20_25_18d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m20_25_18d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..3ce9315d0089746e75fc497147c6c260a4da063a 100644 --- a/fanuc_m20_25_18d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m20_25_18d/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:57", "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/fanuc_m20_25_18d/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m20_25_18d/.metadata/com.nvidia.simready.packaging.bom.json index efdd1169b599c69b2a6f9e86cb3304c771ed5c92..9662dcdb70d7f00f8638c134b45894e3057b9adc 100644 --- a/fanuc_m20_25_18d/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m20_25_18d/.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/fanuc_m20_25_18d/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m20_25_18d/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" } }, { @@ -18,20 +18,12 @@ "sha256": "93db458dc3688f896e396941a0e0ef120967424b8dfde30c9524feedb878fe5b" } }, - { - "relative_path": ".thumbs/m20_25-18d.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "2c297752afb1a465bc18db331655d3232e9c34d76a3015a596c54d5525a4717b", - "sha256": "61250f1abb4cde96e4195bf50ad1dbdcd486741475870280a5cf802263a4cde7" - } - }, { "relative_path": "m20_25-18d.usda", - "size": 16007, + "size": 81553, "hash": { - "sha256-flat-1mb": "ca7c713a5d040229c211cca89a6c530e0a4a365978a6fdaf6927b3862fa85c3f", - "sha256": "018d306f276b9f9fc834458904074ce541f3b9a7edd84b7886237f700de747c6" + "sha256-flat-1mb": "cc01d36c779823c8d5606ea935d57a247041ef3a4e402869b75670d0262a1404", + "sha256": "e58b921d33894d86cf4753f0cc564594011f1cfd3f74bc002fa7a2ae5844a9c8" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 138847, + "size": 139039, "hash": { - "sha256-flat-1mb": "c31775aa4778cfe4452e0bb11b497857b39a999a572ce77edd53034082e85603", - "sha256": "a7a024bf0857f1067cd4e0da231edf9e361a87a382e1d34b8d8df12cd2fb559e" + "sha256-flat-1mb": "98dfcb820226197c67fcf7cb1154a31e43986e7352de7a5cf9dd4ea1430cfb20", + "sha256": "0cebf81ff50afe8df99c66de54e727bca201b438d98f34ac381c15b05d516aac" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m20_25_18d/.simready/validation.json b/fanuc_m20_25_18d/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_m20_25_18d/.simready/validation.json +++ b/fanuc_m20_25_18d/.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", + "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": { + 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"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/fanuc_m20_25_18d/.thumbs/m20_25-18d.thumb.usd b/fanuc_m20_25_18d/.thumbs/m20_25-18d.thumb.usd deleted file mode 100644 index 934b3bfb77a321feb563a86edce562b6b8d0176a..0000000000000000000000000000000000000000 Binary files a/fanuc_m20_25_18d/.thumbs/m20_25-18d.thumb.usd and /dev/null differ diff --git a/fanuc_m20_25_18d/com.nvidia.simready.packaging.json b/fanuc_m20_25_18d/com.nvidia.simready.packaging.json index b105cae2b403994fbb5902bc3699f04fedbb867a..7e2cc0458758dd5cfe8f7192f6e75972ba6e1d8d 100644 --- a/fanuc_m20_25_18d/com.nvidia.simready.packaging.json +++ b/fanuc_m20_25_18d/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m20_25_18d.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m20_25_18d.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "fd3aa386ea9d85cbff0711e7f085b36f11e112a22160a3379fef70aabc619361" + "sha256": "4c910838de1bb05d6c0f8b88145ef033b333f834bade787a02aa97bd3b56cb19" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "952cfc94412f82a252c53b77d3449bd61fd3db41e1200852643a015f09462e40" + "sha256": "769f27c6bb34b105c7bad24cb36c839d0753f2af3b3099a9d021b5425eb6cb0e" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "ad8dea664bbb60337792937308617f5e58375c0e84973e4c13588885f48f907e" + "sha256": "c8334da80f657a6df14f86a0cfb83121bef236268a35d76bf0a4f97eeb0cb20b" }, "package_hash": { - "sha256": "3c0f6b8a46f9f350a5c0fa181d6341d8caf1ebfce0adc0e2d37896a7047c5916" + "sha256": "5c2f506854cde2651dc5a6132133fda4a7db5004bb62f412ed68781e38fbfdbb" } } diff --git a/fanuc_m20_25_18d/m20_25-18d.usda b/fanuc_m20_25_18d/m20_25-18d.usda index d5b74dff4296f6428087ec8f89f79af2d4f372e1..78bcacfa9c0b7dfe3312d022f14a2eb1a63e349c 100644 --- a/fanuc_m20_25_18d/m20_25-18d.usda +++ b/fanuc_m20_25_18d/m20_25-18d.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/fanuc_m20_25_18d/payloads/materials.usda b/fanuc_m20_25_18d/payloads/materials.usda index d237d4c1c840bde5bdd77e29a7e88e8e1e024ac1..04ba49711122441b56871ed96837cf3a2d836b56 100644 --- a/fanuc_m20_25_18d/payloads/materials.usda +++ b/fanuc_m20_25_18d/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" ) @@ -161,7 +161,7 @@ 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) @@ -182,7 +182,7 @@ 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" ) @@ -323,7 +323,7 @@ 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) @@ -344,7 +344,7 @@ 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" ) @@ -485,7 +485,7 @@ 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) @@ -506,7 +506,7 @@ 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" ) @@ -647,7 +647,7 @@ 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) @@ -668,7 +668,7 @@ 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" ) @@ -809,7 +809,7 @@ 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) @@ -830,7 +830,7 @@ 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" ) @@ -971,7 +971,7 @@ 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) @@ -992,7 +992,7 @@ 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" ) @@ -1134,7 +1134,7 @@ 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) @@ -1155,7 +1155,7 @@ 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" ) @@ -1296,7 +1296,7 @@ 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) @@ -1317,7 +1317,7 @@ 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" ) @@ -1458,7 +1458,7 @@ 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) @@ -1479,7 +1479,7 @@ 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" ) @@ -1620,7 +1620,7 @@ 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) @@ -1641,7 +1641,7 @@ 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" ) @@ -1782,7 +1782,7 @@ 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) @@ -1803,7 +1803,7 @@ 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" ) @@ -1944,7 +1944,7 @@ 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) @@ -1965,7 +1965,7 @@ 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" ) @@ -2106,7 +2106,7 @@ 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) @@ -2127,7 +2127,7 @@ 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" ) @@ -2268,7 +2268,7 @@ 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) @@ -2289,7 +2289,7 @@ 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" ) @@ -2430,7 +2430,7 @@ 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) @@ -2451,7 +2451,7 @@ 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" ) @@ -2592,7 +2592,7 @@ 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) @@ -2613,7 +2613,7 @@ 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" ) @@ -2754,7 +2754,7 @@ 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) @@ -2775,7 +2775,7 @@ 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" ) @@ -2916,7 +2916,7 @@ 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) @@ -2937,7 +2937,7 @@ 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" ) @@ -3078,7 +3078,7 @@ 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) @@ -3099,7 +3099,7 @@ 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" ) @@ -3240,7 +3240,7 @@ 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) @@ -3261,7 +3261,7 @@ 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" ) @@ -3402,7 +3402,7 @@ 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) @@ -3423,7 +3423,7 @@ 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" ) @@ -3564,7 +3564,7 @@ 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) @@ -3585,7 +3585,7 @@ 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" ) @@ -3726,7 +3726,7 @@ 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) @@ -3747,7 +3747,7 @@ 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" ) @@ -3888,7 +3888,7 @@ 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/fanuc_m20_35_18d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m20_35_18d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 3baea92f87b257b24df057d88f1d5a99c857c4c6..90d653c257fab3448877f9981ff5660470fe75a8 100644 --- a/fanuc_m20_35_18d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m20_35_18d/.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": "2026-10-26T18:17:55", + "timestamp": "2026-11-02T23:08:58", "assets": [ { "asset": "m20_35-18d.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": "748c427a3ba2a2d41002b731e7837178d9247cdf30c83c93e6758e634b133f77" + "sha256": "5093eb224ca2a187fb34bb8ff45a5a0ba51a22c18d71a25e06532fed9e685330" } } diff --git a/fanuc_m20_35_18d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m20_35_18d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..e9f2865b4988597946e6b22a964fa1c7c3836d4e 100644 --- a/fanuc_m20_35_18d/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m20_35_18d/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:09:00", "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/fanuc_m20_35_18d/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m20_35_18d/.metadata/com.nvidia.simready.packaging.bom.json index 4666c1a7e22d9b174f8bc36ce03ecaee440c0e9b..f6703446b8f18910e0f03362a2f8e0ba8514aba6 100644 --- a/fanuc_m20_35_18d/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m20_35_18d/.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/fanuc_m20_35_18d/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m20_35_18d/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" } }, { @@ -18,20 +18,12 @@ "sha256": "9cad12fa5f1709f50773c0087a92a1865dffb3e41443c374e7b93d6ac7ecd7cb" } }, - { - "relative_path": ".thumbs/m20_35-18d.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "0bdcfa1547f442fb1e979b9c24bad1a75d43bc29ad080c5f5ffc673e57d06742", - "sha256": "ce59aa6b2cd064ef0fd548d7fa46978294fec4821c9ac5073bec2297e8d0f1c2" - } - }, { "relative_path": "m20_35-18d.usda", - "size": 16009, + "size": 81555, "hash": { - "sha256-flat-1mb": "b9b402f93bac1e85d1e49800914cab515ea091356712a831877a74c632610efd", - "sha256": "ca70432a5c6256525beacd95cd207d2cd156b9c0c417b636b74a660575af40f4" + "sha256-flat-1mb": "dd4b9bc8f53c2f64464830087d8eca1616cce53603ebc5e3c90547a8d3963f51", + "sha256": "c5666b5698a521b76d71edd1a288b97c88f4afaf7d120edf3b229ec174ee10e4" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 132995, + "size": 133179, "hash": { - "sha256-flat-1mb": "971930bba78b9a8a8fb59450af722876a6e5f906cc9750bb7276ec5b27e90533", - "sha256": "73df4461bbd2352d313f8bfb74b50d0fc811c9ba9caf260d1567acca1766781a" + "sha256-flat-1mb": "b9d62d587c7e3f0172d18e76e5ecf5630a2433e0671ad80fba8eee2ae1ebc4b9", + "sha256": "ba5e47e2459f38beb856e363056ae4cee3206027e7536f8635940304f83c3a75" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m20_35_18d/.simready/validation.json b/fanuc_m20_35_18d/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_m20_35_18d/.simready/validation.json +++ b/fanuc_m20_35_18d/.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", + "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": 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"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/fanuc_m20_35_18d/.thumbs/m20_35-18d.thumb.usd b/fanuc_m20_35_18d/.thumbs/m20_35-18d.thumb.usd deleted file mode 100644 index 725831ee32d45fc77ef37045511f6b0a310e3f74..0000000000000000000000000000000000000000 Binary files a/fanuc_m20_35_18d/.thumbs/m20_35-18d.thumb.usd and /dev/null differ diff --git a/fanuc_m20_35_18d/com.nvidia.simready.packaging.json b/fanuc_m20_35_18d/com.nvidia.simready.packaging.json index c0f1e65935e69c534cc5dd9140349287f2f2c2fd..14311eaa3010becebfbe7acbee187dbcf264516c 100644 --- a/fanuc_m20_35_18d/com.nvidia.simready.packaging.json +++ b/fanuc_m20_35_18d/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m20_35_18d.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m20_35_18d.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "a1a9dec7db9a6461c64d99fc57469dc270b30ccb28e434e21a57efd33b782b87" + "sha256": "8af709a13d39635ee15a848a3ab8be2474b2d9113bc039ca8f64cac72c82fa5a" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "1b8364ddbd9e76f6fb1efb2b8f22648a0fff3111f802790f4a33764d801b56b4" + "sha256": "3c168ac6d5db7447756197e522e7f5af251e8fffde66c0c41c75ff7c9817a6b2" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "009e455298ab5755e7f02dcbcb0c1da8b8c6becf687c0842ca654dea29565955" + "sha256": "5093eb224ca2a187fb34bb8ff45a5a0ba51a22c18d71a25e06532fed9e685330" }, "package_hash": { - "sha256": "ab335308f07a14c84e29f6df4898a4b7800ddb7aab676c46c2961204a2483b68" + "sha256": "113ff228db776ca9fcd07b97431d945c9adb23b72a41f628d472bc498354b9e2" } } diff --git a/fanuc_m20_35_18d/m20_35-18d.usda b/fanuc_m20_35_18d/m20_35-18d.usda index 1e76e81d54321b6855557d337a12e5f45595b064..77caac4e74f0d483a9124a424f22f399383679f2 100644 --- a/fanuc_m20_35_18d/m20_35-18d.usda +++ b/fanuc_m20_35_18d/m20_35-18d.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/fanuc_m20_35_18d/payloads/materials.usda b/fanuc_m20_35_18d/payloads/materials.usda index a31635afa5d4fcee5e4c8f03033cf5b416771fe3..97bf5171d26f8f165693ccaae1603ac6b8d7fe7a 100644 --- a/fanuc_m20_35_18d/payloads/materials.usda +++ b/fanuc_m20_35_18d/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1133,7 +1133,7 @@ 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) @@ -1154,7 +1154,7 @@ 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" ) @@ -1295,7 +1295,7 @@ 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) @@ -1316,7 +1316,7 @@ 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" ) @@ -1457,7 +1457,7 @@ 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) @@ -1478,7 +1478,7 @@ 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" ) @@ -1619,7 +1619,7 @@ 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) @@ -1640,7 +1640,7 @@ 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" ) @@ -1781,7 +1781,7 @@ 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) @@ -1802,7 +1802,7 @@ 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" ) @@ -1943,7 +1943,7 @@ 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) @@ -1964,7 +1964,7 @@ 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" ) @@ -2105,7 +2105,7 @@ 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) @@ -2126,7 +2126,7 @@ 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" ) @@ -2267,7 +2267,7 @@ 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) @@ -2288,7 +2288,7 @@ 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" ) @@ -2429,7 +2429,7 @@ 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) @@ -2450,7 +2450,7 @@ 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" ) @@ -2591,7 +2591,7 @@ 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) @@ -2612,7 +2612,7 @@ 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" ) @@ -2753,7 +2753,7 @@ 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) @@ -2774,7 +2774,7 @@ 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" ) @@ -2915,7 +2915,7 @@ 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) @@ -2936,7 +2936,7 @@ 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" ) @@ -3077,7 +3077,7 @@ 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) @@ -3098,7 +3098,7 @@ 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" ) @@ -3239,7 +3239,7 @@ 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) @@ -3260,7 +3260,7 @@ 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" ) @@ -3401,7 +3401,7 @@ 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) @@ -3422,7 +3422,7 @@ 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" ) @@ -3563,7 +3563,7 @@ 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) @@ -3584,7 +3584,7 @@ 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" ) @@ -3725,7 +3725,7 @@ 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/fanuc_m710ic_12l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710ic_12l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 1461bc90d1df0c6ee3007afb63951acbb9f4e612..5e959725211d5e9f0407ebed7b103e2b2d48557e 100644 --- a/fanuc_m710ic_12l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710ic_12l/.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": "2026-10-26T18:17:58", + "timestamp": "2026-11-02T23:09:01", "assets": [ { "asset": "m710ic_12l.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": "7e40131292b863d13df268671382f3df200707f486385f895accbbc2911e02a6" + "sha256": "04cb0311877054ee4a33659e2f6eb28f620598c255bdde3ba0def8c6727920cd" } } diff --git a/fanuc_m710ic_12l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m710ic_12l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..ed94e9e4d0d368cc17ad7ce8427dd6d502dc8dd7 100644 --- a/fanuc_m710ic_12l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m710ic_12l/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:09:03", "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/fanuc_m710ic_12l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710ic_12l/.metadata/com.nvidia.simready.packaging.bom.json index bab2f4b6676abf784627b632c9d3ab2d4d339dbb..a8fdecb35734fccc6eabf66668d1b3730c2e1128 100644 --- a/fanuc_m710ic_12l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710ic_12l/.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/fanuc_m710ic_12l/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m710ic_12l/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" } }, { @@ -18,20 +18,12 @@ "sha256": "b196f16354a1b1d1c282cddf5a51f78434ef0e8d6b44ba7fa13545ee602b4514" } }, - { - "relative_path": ".thumbs/m710ic_12l.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "48d260f581089fd649d72496e08e93c21a4fa9262d3a7eb0e9c4f4bc1f04d922", - "sha256": "134b7afde42eeaa5fe601167a7c92b73e7fecd401c14d9401b595cbed22da2a3" - } - }, { "relative_path": "m710ic_12l.usda", - "size": 16008, + "size": 81554, "hash": { - "sha256-flat-1mb": "8ccbec0a1702ce7c2975b9907618f160a6f826ab176a87d603cde874b524f7dc", - "sha256": "ca7ee72e73603a7e982bf469aed66f01f81a4182d2f16f6fc0b8f30a98bd5c0c" + "sha256-flat-1mb": "f661e9b3ec5f8b6de7d987caff8fefc8fbe0198600ce6921600b53f5af1f061b", + "sha256": "631e013740c0b4192fac54521b88dee1b92c6fea85fe34d5cec06bc85fb77dbc" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 57710, + "size": 57790, "hash": { - "sha256-flat-1mb": "e97e0c2bb0d2f35aa932be1317636d8a2428f0e8d5aa7bb0d5429e24bcbef886", - "sha256": "9690d5ed2c49f4e253626ee9ed358482c24aa46a39f4660af7d26327ef92c0e5" + "sha256-flat-1mb": "71bbb63a8d4a8a02ac36b1ce849ac879126ce1a09b4f0af7afea8ad0322dfc4f", + "sha256": "cbbff84b1365a1780d542bb5514ed824050685b7094cd34b26d083d57baa4ee0" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m710ic_12l/.simready/validation.json b/fanuc_m710ic_12l/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_m710ic_12l/.simready/validation.json +++ b/fanuc_m710ic_12l/.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", + "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": { + 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"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/fanuc_m710ic_12l/.thumbs/m710ic_12l.thumb.usd b/fanuc_m710ic_12l/.thumbs/m710ic_12l.thumb.usd deleted file mode 100644 index 3cffa57369ea72d484022b54ac01a36a8a7ab26c..0000000000000000000000000000000000000000 Binary files a/fanuc_m710ic_12l/.thumbs/m710ic_12l.thumb.usd and /dev/null differ diff --git a/fanuc_m710ic_12l/com.nvidia.simready.packaging.json b/fanuc_m710ic_12l/com.nvidia.simready.packaging.json index 1a523bcfa41b26d3e5faa61b642e3ff2dfb24142..688a2b491435142dbf043191c5ef286ab9dc8987 100644 --- a/fanuc_m710ic_12l/com.nvidia.simready.packaging.json +++ b/fanuc_m710ic_12l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_12l.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_12l.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "e8ca35e0d5843605610f48d091570a4cf10f48e7895c87dd64b85dfb7dbe55ad" + "sha256": "cea6d689d7229d9b1c239f7b4cf3b0010709b83c412ec825b9763d76dabbeac6" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "db373313af89082bab586c5ab11bbe31c0b39cea20ce106c3611c5a9f7b93a05" + "sha256": "2e8978c30d1b87908daf07914c11eb418efb0f8b3f79b0688eef6869fefbffcf" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "8cd66809dec8ca0569287c19ed3fa46df28b04b39525d943de932c094bddf286" + "sha256": "04cb0311877054ee4a33659e2f6eb28f620598c255bdde3ba0def8c6727920cd" }, "package_hash": { - "sha256": "a4ca2e78c4eae3603defba63097a3ca787faa17eada11fb8458df9d8a6de3dcd" + "sha256": "66b830732a493e140d57e40b51f63ad6f1a9fb06cb41c9f566066392fed36e63" } } diff --git a/fanuc_m710ic_12l/m710ic_12l.usda b/fanuc_m710ic_12l/m710ic_12l.usda index e7b1779794969c50eadb02aed3912b4e999e00c5..1d58a2b8786c51f272aa2c09ba377b34cdcaf69f 100644 --- a/fanuc_m710ic_12l/m710ic_12l.usda +++ b/fanuc_m710ic_12l/m710ic_12l.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/fanuc_m710ic_12l/payloads/materials.usda b/fanuc_m710ic_12l/payloads/materials.usda index d281da8747aa3835cb91ac07e50e36ab23c189ac..ee58e67515d180b317a55b315e84e12eb48e7b9a 100644 --- a/fanuc_m710ic_12l/payloads/materials.usda +++ b/fanuc_m710ic_12l/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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/fanuc_m710ic_20l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710ic_20l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 14fbb26be8d106793d8c0c6a80d4a1fb0718cbfe..a0d4d2a426fb58871b51d43b0feb8e6879a1740d 100644 --- a/fanuc_m710ic_20l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710ic_20l/.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": "2026-10-26T18:18:00", + "timestamp": "2026-11-02T23:09:04", "assets": [ { "asset": "m710ic_20l.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": "13a1c8acfaba9e95ac9105f72b723fe176024db407ff876f9ce740ccf25b5e42" + "sha256": "34e75cc3d0c05135e230384eadadf462468eb526572ffc47858534a0e43a5625" } } diff --git a/fanuc_m710ic_20l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m710ic_20l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..d03dcb7306bb9d72caab9f601234d23dce7122c6 100644 --- a/fanuc_m710ic_20l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m710ic_20l/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:09:06", "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/fanuc_m710ic_20l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710ic_20l/.metadata/com.nvidia.simready.packaging.bom.json index 6f3d1f7f07d484b26b9bcec11cfe00013f8651eb..7e8bc798ba501577aa12d3bf7517de870371d4d6 100644 --- a/fanuc_m710ic_20l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710ic_20l/.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/fanuc_m710ic_20l/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m710ic_20l/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" } }, { @@ -18,20 +18,12 @@ "sha256": "3f8b8392ef0847e4d8c2c404a6103a4fccf1d42dda13c3f0e35eca262a12a6f1" } }, - { - "relative_path": ".thumbs/m710ic_20l.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "c218e0ae8275646fe5d55e72382a898981679b9dd110c40093986e9af9e7a50e", - "sha256": "e8e0a4b0c4a9ce8b2d33051dec92e26e80874aefbf5813ac7aaa8dc4ca3bf9d3" - } - }, { "relative_path": "m710ic_20l.usda", - "size": 16004, + "size": 81550, "hash": { - "sha256-flat-1mb": "9bd6d2df1ca3234b85a7097bd01885c3229e9ee1e4cccdf4e5403c731f57c1e8", - "sha256": "590efae1e357666f56cdf55b679e9aef76d63d26177e529ad05e9301e0ab5d56" + "sha256-flat-1mb": "100a88cd671864e69615a0ca882ea91e2bc0ec5e436dad317c4f83cb81fd48e4", + "sha256": "1e02a817d069b04793bfb93c8a1d468e49a011b67eb7e9565894ea1cd2f1c180" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 51929, + "size": 52001, "hash": { - "sha256-flat-1mb": "71000ad64abdf28b866e3bab21eb91503da5443f0f973bdc12dc738dc7394b2b", - "sha256": "026fa6a5350f93b58f7e5e19c7b2487221cc13b7efdf5c9ebea9301cc9e9a268" + "sha256-flat-1mb": "725bbdb716745ecd6c67bba73209ae1784acdc5ebdb1ab85dac5dcb382963e5a", + "sha256": "fd866f261aa3d39b31b03cb8447671068f75e28265bc97181a9eea4ca67fe39c" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m710ic_20l/.simready/validation.json b/fanuc_m710ic_20l/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_m710ic_20l/.simready/validation.json +++ b/fanuc_m710ic_20l/.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", + "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": 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}, + "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/fanuc_m710ic_20l/.thumbs/m710ic_20l.thumb.usd b/fanuc_m710ic_20l/.thumbs/m710ic_20l.thumb.usd deleted file mode 100644 index 160e8f815b296e45d7bf655011ca423660d48157..0000000000000000000000000000000000000000 Binary files a/fanuc_m710ic_20l/.thumbs/m710ic_20l.thumb.usd and /dev/null differ diff --git a/fanuc_m710ic_20l/com.nvidia.simready.packaging.json b/fanuc_m710ic_20l/com.nvidia.simready.packaging.json index f11a42d7370f930a44852b74e68ce437ae3e4bed..9e2084e515250e4c4d287e426a6838fefaf30ede 100644 --- a/fanuc_m710ic_20l/com.nvidia.simready.packaging.json +++ b/fanuc_m710ic_20l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_20l.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_20l.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "69030703d3eb389efff7242d28c0852b0307f6fdde8c48ce69564543da04b221" + "sha256": "56b89b871d895f7e1c1aacbb8bf43b3b90ba062051c99ad65ae87c2d4d612d2c" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "65b10d4ef2c0fb9bf623fa75c0172cef158f09f33ea80d379614dce7d885bbcc" + "sha256": "8eabb76af4a9e2d890217b3493893a7f2b6c87a3f11a6176ffc72c6e9cf63d2f" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "7f2818e0c10cf6c58792bb496486deedcebb095ffd52e96e5f3c1497d7a5edb0" + "sha256": "34e75cc3d0c05135e230384eadadf462468eb526572ffc47858534a0e43a5625" }, "package_hash": { - "sha256": "70923e69ebff1990f89ba8762c08a8595e1352784de37119b89f4fe555ad033d" + "sha256": "7dd56103e6a3e2fdf25a1a822dbf0cb1b6b4277c257f6721bba5a8b2d698e907" } } diff --git a/fanuc_m710ic_20l/m710ic_20l.usda b/fanuc_m710ic_20l/m710ic_20l.usda index f58d10b5b0b6e0729c11dc841f3a337730ddbcac..ecc4c29e75fddb00b8a323cbfa771fca382a784e 100644 --- a/fanuc_m710ic_20l/m710ic_20l.usda +++ b/fanuc_m710ic_20l/m710ic_20l.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/fanuc_m710ic_20l/payloads/materials.usda b/fanuc_m710ic_20l/payloads/materials.usda index 3eb67809656f6a3d3cb24432f14118582e4d5b04..a6296302eb4b3892a37c764d0958cccd50d7850d 100644 --- a/fanuc_m710ic_20l/payloads/materials.usda +++ b/fanuc_m710ic_20l/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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/fanuc_m710ic_20m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710ic_20m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 5587575b520c4ca9dda7eaeaf37498892424f5ae..e93d4d04dc452087fa8a5344122670c3cb880c5e 100644 --- a/fanuc_m710ic_20m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710ic_20m/.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": "2026-10-26T18:18:02", + "timestamp": "2026-11-02T23:09:07", "assets": [ { "asset": "m710ic_20m.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": "4d70fc320421882212dce5aea74006937ffdc1a0ee7d180655d6ffa635ae508f" + "sha256": "66734a65f8ddeb3811a3c2c6d09e4d9a3f88ca1c0e0c8e110c60a579965de9f4" } } diff --git a/fanuc_m710ic_20m/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m710ic_20m/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..d5d48aca86d37c181422af316062bc406b4fc3e9 100644 --- a/fanuc_m710ic_20m/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m710ic_20m/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:09:09", "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/fanuc_m710ic_20m/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710ic_20m/.metadata/com.nvidia.simready.packaging.bom.json index 3682fd852f4d8e583f35e0e0c1c05f125ccafeec..6e32e840cb5c625b8d2588b773853aeac7071dbd 100644 --- a/fanuc_m710ic_20m/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710ic_20m/.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/fanuc_m710ic_20m/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m710ic_20m/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" } }, { @@ -18,20 +18,12 @@ "sha256": "b9c24714289a9bb21fa7017c3f5e25c49dd238a27e983d4607261f19dd133de6" } }, - { - "relative_path": ".thumbs/m710ic_20m.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "bd9c820fbda2b7e9dca370917773f7c1e719ca04e38bbd081a0ad512e91c4e31", - "sha256": "2b3c9b1f07c5d108f198db24b70d1dd27415702ea40e0946cbf72e1d3b72d692" - } - }, { "relative_path": "m710ic_20m.usda", - "size": 16004, + "size": 81550, "hash": { - "sha256-flat-1mb": "7f4dad43b229e5ed608011aed488d4f4789fd52212c477a00a4ee61e8aacc639", - "sha256": "b3c0879b489b4525a9f21720f7a333aec1c9725ba79efaabe6824209a7524afd" + "sha256-flat-1mb": "d2755b0b0836924b72530e2f34f69357525842a3e5db3d10b120d07e63b5f57e", + "sha256": "72e4046a46484785b012e305c41dadb2483b788aee9eb0a300f27fca95b7b5ce" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 57814, + "size": 57894, "hash": { - "sha256-flat-1mb": "7af73d88cd7addc061f7139788139bd5f92d3cc150faee7fd990e63cc7de6253", - "sha256": "daed35cb55bd3b9a34e05e180a3d42784cbe8b7a111b6e596e08659bafe16404" + "sha256-flat-1mb": "781d08cf09113329e088cf186b9ec1cc55db842b14c2883f125477c4c0d2f448", + "sha256": "6899de21605f92bcef4abbaf082686989b5d0fec108628f002237bcaa4337eeb" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m710ic_20m/.simready/validation.json b/fanuc_m710ic_20m/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_m710ic_20m/.simready/validation.json +++ b/fanuc_m710ic_20m/.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": 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+ "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/fanuc_m710ic_20m/.thumbs/m710ic_20m.thumb.usd b/fanuc_m710ic_20m/.thumbs/m710ic_20m.thumb.usd deleted file mode 100644 index 6d322bcfe73364c8a337e93d655fac44884e3739..0000000000000000000000000000000000000000 Binary files a/fanuc_m710ic_20m/.thumbs/m710ic_20m.thumb.usd and /dev/null differ diff --git a/fanuc_m710ic_20m/com.nvidia.simready.packaging.json b/fanuc_m710ic_20m/com.nvidia.simready.packaging.json index f152540cd2d74e1014256014c144cf7a0412540e..1d8f657854323f7253adf939cdc54c686e176829 100644 --- a/fanuc_m710ic_20m/com.nvidia.simready.packaging.json +++ b/fanuc_m710ic_20m/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_20m.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_20m.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "f22d64656c81083589669c18da2fedce62216c7facb9ec441171ed92cc232a68" + "sha256": "21a188a7d3fca7700cbcd1abd82d7697c2b763bcdd675453e8589b6ab199d524" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "f44f7a5337d838a2dd510b2f4ff770bd411d8f0ef05dde30d289a7b1cab1a650" + "sha256": "ea004dc0c69e56355597dcb24dba42e08fe1049b03f92c19c3e5d087ac134919" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "d34cb4767cdd5d967b45c968d2ec81d8ca24eae12054f3850dc3ed548adb81c8" + "sha256": "66734a65f8ddeb3811a3c2c6d09e4d9a3f88ca1c0e0c8e110c60a579965de9f4" }, "package_hash": { - "sha256": "e3caa180aeb70b1d50894cc1b1c31813066021efaac8763be8721ba6853c6efd" + "sha256": "47f8ab72a7b309f5e9687f2bce113dc1e3d5fbaddbd45ff9f36e61a95ad96eb2" } } diff --git a/fanuc_m710ic_20m/m710ic_20m.usda b/fanuc_m710ic_20m/m710ic_20m.usda index 34ac331c6829686c0df29e448a6640978fbd2962..03b707f48f38b8e9e2e66eb9cb9aa50aa66de225 100644 --- a/fanuc_m710ic_20m/m710ic_20m.usda +++ b/fanuc_m710ic_20m/m710ic_20m.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/fanuc_m710ic_20m/payloads/materials.usda b/fanuc_m710ic_20m/payloads/materials.usda index de51e801517af8d9961e319ef13d9afc73bb4c90..403643758beae0dcb6b9b8760bdcdeb563c42f24 100644 --- a/fanuc_m710ic_20m/payloads/materials.usda +++ b/fanuc_m710ic_20m/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1133,7 +1133,7 @@ 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) @@ -1154,7 +1154,7 @@ 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" ) @@ -1295,7 +1295,7 @@ 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) @@ -1316,7 +1316,7 @@ 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" ) @@ -1457,7 +1457,7 @@ 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) @@ -1478,7 +1478,7 @@ 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" ) @@ -1619,7 +1619,7 @@ 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/fanuc_m710ic_45m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710ic_45m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 712e19195292f337ec48a671e22cd6e076f049f1..a6ea80bf27529bade87daf81d9da5baad35bad19 100644 --- a/fanuc_m710ic_45m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710ic_45m/.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": "2026-10-26T18:18:04", + "timestamp": "2026-11-02T23:09:09", "assets": [ { "asset": "m710ic_45m.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": "3626bbb504bb4e3fd7f45c52c1bb868e575e16ae51905600fb47c2091bc8df09" + "sha256": "26128a8f71c68c78200fb3727f94448e177ccb5e4ae48165637229bc249cbb9a" } } diff --git a/fanuc_m710ic_45m/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m710ic_45m/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..daa04a971e6070db4aaf4bdc00607728f709a3ce 100644 --- a/fanuc_m710ic_45m/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m710ic_45m/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:09:11", "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/fanuc_m710ic_45m/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710ic_45m/.metadata/com.nvidia.simready.packaging.bom.json index 992bf53e2587abb08c4f9f00efa8f7f33b09bbb8..0c760aaf6e0dd0154d33f45e8eb3adabd3c90491 100644 --- a/fanuc_m710ic_45m/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710ic_45m/.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/fanuc_m710ic_45m/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m710ic_45m/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" } }, { @@ -18,20 +18,12 @@ "sha256": "eab7088fcddecbde9994eb48c71dd965458cd708e00075d2f1608da2e5467cfb" } }, - { - "relative_path": ".thumbs/m710ic_45m.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "884466c68daf9672099fe533f9c43715210c3c1a4f25ee486a9b412c27583a38", - "sha256": "9e7a49b7e52c77b8d808a79098736eaa3c8682649c51c2c32e874f456953f617" - } - }, { "relative_path": "m710ic_45m.usda", - "size": 16007, + "size": 81553, "hash": { - "sha256-flat-1mb": "55213703128c5ce965371db0c0dc5ff29b7a9e7b7b4a04ca8e985aabde393662", - "sha256": "0548293bfa1c3e1db04c87a610a5fda23643d9292f59b0a144b591e7f7102d54" + "sha256-flat-1mb": "3422260bfd2a3fbf3f9e2f76da48cc682dea6c62fde352c8979762d69363e562", + "sha256": "6ba8220da8410d395e171d9bd7dda0725709f2345e5de4d57148af14d798a091" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 63608, + "size": 63696, "hash": { - "sha256-flat-1mb": "d8fc4a4fde933dd1a57b7842ebbc5467e88e6ceae20f82021f69cb7f1c20d575", - "sha256": "badf2d70f73961eeaed79c82d71f1b39e5264a7032ba41dc217fba090be21fae" + "sha256-flat-1mb": "3d2bc7989441c50e80f5298dbbe0c3fc2a84a1809f3cab249e5d5bd8b87f00a1", + "sha256": "2349eb6ffaf5f6eb14a48cc081a1cb2226c15224c569fbff1bd9ce7ab3f075db" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m710ic_45m/.simready/validation.json b/fanuc_m710ic_45m/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_m710ic_45m/.simready/validation.json +++ b/fanuc_m710ic_45m/.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", + "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": 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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/fanuc_m710ic_45m/.thumbs/m710ic_45m.thumb.usd b/fanuc_m710ic_45m/.thumbs/m710ic_45m.thumb.usd deleted file mode 100644 index 3123fcca3c29d1b635a0544e363927abaeebe0aa..0000000000000000000000000000000000000000 Binary files a/fanuc_m710ic_45m/.thumbs/m710ic_45m.thumb.usd and /dev/null differ diff --git a/fanuc_m710ic_45m/com.nvidia.simready.packaging.json b/fanuc_m710ic_45m/com.nvidia.simready.packaging.json index c8ba302e09669a9abfee919344a5d6fbee2b11f8..008160b3c371be7334c97672dde3b5ad9d6e468f 100644 --- a/fanuc_m710ic_45m/com.nvidia.simready.packaging.json +++ b/fanuc_m710ic_45m/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_45m.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_45m.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "e906ddc9275838169c77058926eafdceb0549fde558267ac7875c09e51f7c27b" + "sha256": "9d9f27c4d0fb44d3bd359284cac0859ba5f6fe594fc92aedc91451f9ff5bd6c3" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "34ad6abdbdc793cbc632a96cace1878528cf5b8bcb45c9c3ecf0ec3ac4b496ce" + "sha256": "ea7a36eeea0a87d2ea22f820ff416bc87057ec565f06d47cb6d6bbe5d05c36f2" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "5bca140645d5c71152f9dd3ad32b5a56559e254aa27e9c2e463ed93c07a5fc26" + "sha256": "26128a8f71c68c78200fb3727f94448e177ccb5e4ae48165637229bc249cbb9a" }, "package_hash": { - "sha256": "f76e0c383a362eadae060cac25b51862e36a681ff26fdb483d69cefd41f02e0c" + "sha256": "956b300ee911bfade358397d97abbdc47b0f72b7f1a71a3a74086f02e28848d4" } } diff --git a/fanuc_m710ic_45m/m710ic_45m.usda b/fanuc_m710ic_45m/m710ic_45m.usda index 1c724185195a77c39753664a7b3dcd0bfa00742c..47fab09dbeff20f5604447f1b8da97c5ecacc5c9 100644 --- a/fanuc_m710ic_45m/m710ic_45m.usda +++ b/fanuc_m710ic_45m/m710ic_45m.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/fanuc_m710ic_45m/payloads/materials.usda b/fanuc_m710ic_45m/payloads/materials.usda index cabadf6efc7091566b52c0403cb2b4e5f6e3d988..9399df47b640ca2ced370feab4365a002fcf67ed 100644 --- a/fanuc_m710ic_45m/payloads/materials.usda +++ b/fanuc_m710ic_45m/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" ) @@ -323,7 +323,7 @@ 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) @@ -344,7 +344,7 @@ 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) @@ -831,7 +831,7 @@ 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" ) @@ -972,7 +972,7 @@ 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) @@ -993,7 +993,7 @@ 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" ) @@ -1134,7 +1134,7 @@ 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) @@ -1155,7 +1155,7 @@ 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" ) @@ -1296,7 +1296,7 @@ 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) @@ -1317,7 +1317,7 @@ 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" ) @@ -1458,7 +1458,7 @@ 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) @@ -1479,7 +1479,7 @@ 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" ) @@ -1620,7 +1620,7 @@ 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) @@ -1641,7 +1641,7 @@ 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" ) @@ -1782,7 +1782,7 @@ 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/fanuc_m710ic_50/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710ic_50/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 77fa9b08e295b6bb1298054190256384fac97e74..37ac3af62dc451de768ae2839ce3bb64ae8012b8 100644 --- a/fanuc_m710ic_50/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710ic_50/.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": "2026-10-26T18:18:06", + "timestamp": "2026-11-02T23:09:12", "assets": [ { "asset": "m710ic_50.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": "5fcc8131dab769e2acd0c428d33f6d5af8b838e15755c4e687d8cd55f21a38a4" + "sha256": "09ce1a30531499a01803b8bc49b0791eebc5b447514dc1019c6d11f8974fe1da" } } diff --git a/fanuc_m710ic_50/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m710ic_50/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..c0e867d7d92b031602a2fcb682c1f339eb9c3e73 100644 --- a/fanuc_m710ic_50/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m710ic_50/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:09:14", "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/fanuc_m710ic_50/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710ic_50/.metadata/com.nvidia.simready.packaging.bom.json index 5214d5673024d018555381660f76ea44dca1ba18..4956a718ef37998a955e8b89db0e821b0118813a 100644 --- a/fanuc_m710ic_50/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710ic_50/.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/fanuc_m710ic_50/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m710ic_50/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49437, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "60678caf466441b20cc980d25651ae4cad35d680a6cb335ac019829b84246b9b", + "sha256": "06dfaae702000e6d9fc552d2267886882dc632a5aa12cb665f7cb8291bae4e31" } }, { @@ -18,20 +18,12 @@ "sha256": "37d5bcaac34bf6206c18122e2b89b54163da79027a426eb186c0e654b704849b" } }, - { - "relative_path": ".thumbs/m710ic_50.thumb.usd", - "size": 6126, - "hash": { - "sha256-flat-1mb": "04b52508b1816eca42e0d85cbd7aa36c17e048dc2d98f811fd0ab114fb236352", - "sha256": "a507fe6eb3be583c1eab17b89ad944ffbc57c8e827af0d2e6a76c097d4b30644" - } - }, { "relative_path": "m710ic_50.usda", - "size": 15996, + "size": 81542, "hash": { - "sha256-flat-1mb": "a7621cf3f91833027a07d3d8cfbae3bad51572b8bf45921e1340af08d00f990e", - "sha256": "0d3ae90af36e72d7185b0e0eed14a0b01a396ac02bb2dfb034a471ab29997e68" + "sha256-flat-1mb": "492ab9184ff35ed29c5ad5bf4bc2397beb0251f915ce45f3995f18d70a46441b", + "sha256": "e518a7b01c05cc6cebb4a02c8169d9260ca5fd2c218cbedf177aa8443d796a76" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 46302, + "size": 46366, "hash": { - "sha256-flat-1mb": "6dca6be3222b40a8de7cedd20133eaac312c20f5ee34c1bd499257f3194febec", - "sha256": "3738ee8810c6cfe46f4c98b6a25c8570fbddc75b9da2b54344e7309247bc12b8" + "sha256-flat-1mb": "c7e207c5e5adf3872a6f7ec89d46a7c1c91c78fca87df71bbceef540a4e6d55c", + "sha256": "367c281762c9d08f02bf7c25a9e8e9634b4a2b162f3561ca557fbd98e5deef50" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m710ic_50/.simready/validation.json b/fanuc_m710ic_50/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_m710ic_50/.simready/validation.json +++ b/fanuc_m710ic_50/.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", + "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", + 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"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/fanuc_m710ic_50/.thumbs/m710ic_50.thumb.usd b/fanuc_m710ic_50/.thumbs/m710ic_50.thumb.usd deleted file mode 100644 index ce23c45e4175640cae043c725282577b14d5d771..0000000000000000000000000000000000000000 Binary files a/fanuc_m710ic_50/.thumbs/m710ic_50.thumb.usd and /dev/null differ diff --git a/fanuc_m710ic_50/com.nvidia.simready.packaging.json b/fanuc_m710ic_50/com.nvidia.simready.packaging.json index 731fff25f3ceb7eceddd5ea66910cdb9e083579d..c69d8f84cdd9b31164d8f358ed02fd62e5f5c53f 100644 --- a/fanuc_m710ic_50/com.nvidia.simready.packaging.json +++ b/fanuc_m710ic_50/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_50.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_50.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "09ec96f68c839f0d2648106109aea52ab25a5a5a41fe9cdb4e48cb4fc4415c94" + "sha256": "6ba8abd6449cca25ab876a20e5e7afcb6731073f6d4d80ef4735e6888709292f" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "f553f2df1492f324cc1e2022feb88b4520148d5fd25ef7c99d8fcd8bd1d82787" + "sha256": "38c149df3d3ab965413afd50ee2e24341b5da2f436afe00612749b22eb7c8da2" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "bf9355638f523acb3cd112a3c0715f3120e30379b6d87bbb7f88a4d550ecb902" + "sha256": "09ce1a30531499a01803b8bc49b0791eebc5b447514dc1019c6d11f8974fe1da" }, "package_hash": { - "sha256": "f4d95e7b5ab9b20c89953d6aa05f9298b53080e5a6c29c21c1a8ba021671c9c1" + "sha256": "56dbfd692b3b7e64621bab4bb5f065cf55b03ecabd74863f205d7a711f8f74d8" } } diff --git a/fanuc_m710ic_50/m710ic_50.usda b/fanuc_m710ic_50/m710ic_50.usda index 5f0251b059e766bd9b98a781f6e226c86bb52be5..5d51c4996c62f47d196760609cebc79e94194582 100644 --- a/fanuc_m710ic_50/m710ic_50.usda +++ b/fanuc_m710ic_50/m710ic_50.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/fanuc_m710ic_50/payloads/materials.usda b/fanuc_m710ic_50/payloads/materials.usda index 6b039a8252aa1e56f79c4b78f366c43aa8fe89cf..fb89b297b8618b9f0281d2f66d8e2693c7f9ca04 100644 --- a/fanuc_m710ic_50/payloads/materials.usda +++ b/fanuc_m710ic_50/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1295,7 +1295,7 @@ 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/fanuc_m710ic_50e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710ic_50e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 1489794b801e1c9a0d3667d8c8f29e270e83bc12..47b4999cf7bdc4705ba2484af59255ad19e3ca52 100644 --- a/fanuc_m710ic_50e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710ic_50e/.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": "2026-10-26T18:18:09", + "timestamp": "2026-11-02T23:09:15", "assets": [ { "asset": "m710ic_50e.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": "b122743a6ad754f455e2ebde39e00933d43075c46638ff1baadffe6ad081bbde" + "sha256": "ad536256abcca3e4523d81e2617179dcf28f3043ca926b077fc421abfb6e9235" } } diff --git a/fanuc_m710ic_50e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m710ic_50e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..261a6ee9a1e722b9ec00df50fdf5adf130d45178 100644 --- a/fanuc_m710ic_50e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m710ic_50e/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:09:17", "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/fanuc_m710ic_50e/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710ic_50e/.metadata/com.nvidia.simready.packaging.bom.json index 20029d63eccb70ad9db17e36df736ce52b927fa4..7791f5daa32b70d2e89f9649fe02bcdccd6592e4 100644 --- a/fanuc_m710ic_50e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710ic_50e/.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/fanuc_m710ic_50e/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m710ic_50e/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" } }, { @@ -18,20 +18,12 @@ "sha256": "17a282df3373b0c620bbe6c5e4b6f549bf0c4016102d6cec2bc364a9c031ab6b" } }, - { - "relative_path": ".thumbs/m710ic_50e.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "b218dda4e92790394739e14fa2364855306669a9c4067aab65bfde491b691f01", - "sha256": "ec5b562c903b9744eb674d17d9cd53acd979eaea32794ba22befe7adb0f4d501" - } - }, { "relative_path": "m710ic_50e.usda", - "size": 16003, + "size": 81549, "hash": { - "sha256-flat-1mb": "5b764fc59870978510ce6408bced4bd87de41c0216f34d5966470698cf55e383", - "sha256": "2d2a08baf06d8b9db61725ac25122aaaecb7f3c4b6752de2b4e2302c37bfb8fe" + "sha256-flat-1mb": "47a1e8766deee0a3ff28da535be8c3b8132585c7025438071229568e01380b4c", + "sha256": "064b1b1bdd8448d290495471a8623250fb8a6fb97f0665d7402112dad8cf59ba" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 57795, + "size": 57875, "hash": { - "sha256-flat-1mb": "fc652938422262639e9a5aa0464e3b09f3792135f84d458fb1151e2126f47304", - "sha256": "c4efbbb00a3c76c7558efa098adcfcad96892cb57e9d785991a82de6c4786516" + "sha256-flat-1mb": "27e35ef98b289aee0d569f0ad71c2a3f30b5cb3f3e9c293c3be0b6dd1c4a320d", + "sha256": 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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/fanuc_m710ic_50e/.thumbs/m710ic_50e.thumb.usd b/fanuc_m710ic_50e/.thumbs/m710ic_50e.thumb.usd deleted file mode 100644 index 8897d3482e6b6f35811f55b5e5691b008cc7e156..0000000000000000000000000000000000000000 Binary files a/fanuc_m710ic_50e/.thumbs/m710ic_50e.thumb.usd and /dev/null differ diff --git a/fanuc_m710ic_50e/com.nvidia.simready.packaging.json b/fanuc_m710ic_50e/com.nvidia.simready.packaging.json index 0922d398a58ba9942b0eb4aa9d816266e0b5fb81..7bf7a30cfb6d45b8f5715b2dd2867945f263adae 100644 --- a/fanuc_m710ic_50e/com.nvidia.simready.packaging.json +++ b/fanuc_m710ic_50e/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_50e.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_50e.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "e5eef1a6528eb82f89df81000ca3f4ccf453fec61a398e81bfdfc8eb356983c2" + "sha256": "f53215d2f5fa07ca9e1b21d904f00c3b52dd85949b1229cae73eb655ffdbd695" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "f5dd2ea556cdc1dbe8fe1b3dd226495a88c5956e9911c3f8f1793fc4da062f06" + "sha256": "eb3a0cf882bb8ed8b2c408034674ddd5e7cc41eeaed95a13944cf5c0a8e21c93" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "0c3bcf4798cd7accdfbadad9ea8bcfff309e80e80713e952f6df2be9af4e9752" + "sha256": "ad536256abcca3e4523d81e2617179dcf28f3043ca926b077fc421abfb6e9235" }, "package_hash": { - "sha256": "b9da0e1e55e28d650d07b5498c4d22d36a62bd39e6ba6338929b6edb33d8be8a" + "sha256": "de60258752cbf550563cfacbe525a4aceb165f5a2f62ab8eb47096b3925eaca4" } } diff --git a/fanuc_m710ic_50e/m710ic_50e.usda b/fanuc_m710ic_50e/m710ic_50e.usda index b6f04f1172bd031192d02dcde5712eb7150f4379..92ae0c0ee3ac7aaf2d82b5925ea0ad5121ef80f5 100644 --- a/fanuc_m710ic_50e/m710ic_50e.usda +++ b/fanuc_m710ic_50e/m710ic_50e.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/fanuc_m710ic_50e/payloads/materials.usda b/fanuc_m710ic_50e/payloads/materials.usda index ae4461192466b0322ec094adec2ec445a2b33f85..a1e473102926da3bf7f5245909f4723519025022 100644 --- a/fanuc_m710ic_50e/payloads/materials.usda +++ b/fanuc_m710ic_50e/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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/fanuc_m710ic_50s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710ic_50s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 771d6321ab4f9cd780b01d260b4132cf29f1e009..f393c9d6e84be1527597c6556c9c56fb8d8d8992 100644 --- a/fanuc_m710ic_50s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710ic_50s/.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": "2026-10-26T18:18:11", + "timestamp": "2026-11-02T23:09:18", "assets": [ { "asset": "m710ic_50s.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": "15d277d226f7733c2a3004661646f66b1a3fc657ea14c44e6116b15b58ff6247" + "sha256": "84d4b96c0e53d718b2785206423ac6dd67241d6bb1acba6b3bd71e4a5b8bb7a9" } } diff --git a/fanuc_m710ic_50s/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m710ic_50s/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..42e0c923d11b58c925a34a6b6a4cba616aa44180 100644 --- a/fanuc_m710ic_50s/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m710ic_50s/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:09:20", "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/fanuc_m710ic_50s/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710ic_50s/.metadata/com.nvidia.simready.packaging.bom.json index 506ec0fe16fbbae26bd11f8300a1075702175b39..23db6c8cdba528f92f51d85bfe14e9f54010eeea 100644 --- a/fanuc_m710ic_50s/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710ic_50s/.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/fanuc_m710ic_50s/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m710ic_50s/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" } }, { @@ -18,20 +18,12 @@ "sha256": "6cb6f5d9d241594355e88e55ac96f9bb4f55c713d33f1b5656c90a1f5072584a" } }, - { - "relative_path": ".thumbs/m710ic_50s.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "b45fbb5fe843804502606a0a2cd1edf56d8f64cfd46d3a342ec9153e517a52e3", - "sha256": "a7bcc4a0c1d70db32b26a66f5b754e53cc58f71754c1aef36951c9b68997cf66" - } - }, { "relative_path": "m710ic_50s.usda", - "size": 16003, + "size": 81549, "hash": { - "sha256-flat-1mb": "b95513d69fefdb1ea118f01f67a272c9878a68adeb0cc20539ab38f1c2bc5f84", - "sha256": "337d94c3a1c8ee15e4fc3c93c88b724895d18d3ad494abbeee0aac93ae21017a" + "sha256-flat-1mb": "db81f22bb1c054e3e912e716c636a1c376b119ddda1ae3664fcd7fc86848d9f8", + "sha256": "7bf4ceb8937e228ae697f02943b542ce24db9f34502c7e4441110c2a3ca54f17" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 46242, + "size": 46306, "hash": { - "sha256-flat-1mb": "e2950d3665cc29080be170c6b6dd34b284a4d9622bcc34ddd24783d5b5620352", - "sha256": "6aa87e0a64af9a817aaceb113ead528aebc3f5c2ed45f94438a93e36ff903062" + "sha256-flat-1mb": "41b8dcec230a9a443944fe90c524a9c923a86f8f745e0d7eb80862e0dfa8e0a6", + "sha256": "45c582ccfacfe181ecfc4ca1ee73a9276c81a04c553dce814cc641aef46bc6ae" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m710ic_50s/.simready/validation.json b/fanuc_m710ic_50s/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_m710ic_50s/.simready/validation.json +++ b/fanuc_m710ic_50s/.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", + "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" + }, + 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"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/fanuc_m710ic_50s/.thumbs/m710ic_50s.thumb.usd b/fanuc_m710ic_50s/.thumbs/m710ic_50s.thumb.usd deleted file mode 100644 index a7375f7f5f0c638216e4439bc71d7455c6c1d1ce..0000000000000000000000000000000000000000 Binary files a/fanuc_m710ic_50s/.thumbs/m710ic_50s.thumb.usd and /dev/null differ diff --git a/fanuc_m710ic_50s/com.nvidia.simready.packaging.json b/fanuc_m710ic_50s/com.nvidia.simready.packaging.json index d80013ebab01d57b595e09ac8ccb2d845c985c54..79a0b79fae20ed8ee5b95066761dc6b79fd8ae7e 100644 --- a/fanuc_m710ic_50s/com.nvidia.simready.packaging.json +++ b/fanuc_m710ic_50s/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_50s.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_50s.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "2fd2804f3a5f98271191d4745ec96e366550487fa99638a2e593dd6e39f7dc60" + "sha256": "debb285eb2be40c8c7316ea8cf0cc6b1f6240628447497895e4fe13952fd6679" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "eb0a6ffeed96f17e4dea7126f625c521857584c2d821191b28d1aabad2dbad7d" + "sha256": "9e97e7bebd7b8d9c1578d6c1a4552149bd5f3d1e40b04d68c2355a4fde9a387f" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "54def48bd7f58c1b5fc56ef3b75e608e5541d41b3afc1d5733d63eec168fdc39" + "sha256": "84d4b96c0e53d718b2785206423ac6dd67241d6bb1acba6b3bd71e4a5b8bb7a9" }, "package_hash": { - "sha256": "4d3c456870686c051adb2c1b2b5da8caad2eb5e0c85af9283d0d390265a457d3" + "sha256": "4fdcb2ca09d87f5d2a141e78d9493144879fdf003d6eb3270953e7703c700ebb" } } diff --git a/fanuc_m710ic_50s/m710ic_50s.usda b/fanuc_m710ic_50s/m710ic_50s.usda index d91d5e167f51db26ceae31291b1052071375e31a..26d769aeb631991e75acbee92d836269db4fdc82 100644 --- a/fanuc_m710ic_50s/m710ic_50s.usda +++ b/fanuc_m710ic_50s/m710ic_50s.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/fanuc_m710ic_50s/payloads/materials.usda b/fanuc_m710ic_50s/payloads/materials.usda index d31e8e3a26aa8742999567511d9177daa19ee36c..08e2ad79c9896dce320cc4e0ee48d26dc662249d 100644 --- a/fanuc_m710ic_50s/payloads/materials.usda +++ b/fanuc_m710ic_50s/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" ) @@ -323,7 +323,7 @@ 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) @@ -344,7 +344,7 @@ 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" ) @@ -485,7 +485,7 @@ 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) @@ -506,7 +506,7 @@ 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" ) @@ -647,7 +647,7 @@ 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) @@ -668,7 +668,7 @@ 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" ) @@ -809,7 +809,7 @@ 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) @@ -830,7 +830,7 @@ 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" ) @@ -971,7 +971,7 @@ 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) @@ -992,7 +992,7 @@ 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" ) @@ -1133,7 +1133,7 @@ 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) @@ -1154,7 +1154,7 @@ 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" ) @@ -1295,7 +1295,7 @@ 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/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 3856cca23b36a407efa0395494d628a285db1378..d354178d249b9c449baa38513133357cb7a2203f 100644 --- a/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:18:13", + "timestamp": "2026-11-02T23:09:21", "assets": [ { "asset": "m710ic_70.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": "9d6aeefa02204e7e2030c231690d98f0007afb0979db91c439eaf4caf827dbdd" + "sha256": "c24775cee34384762336c9364683e74946320e614d1629eef1c9647ab2cc5748" } } diff --git a/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..70853244267fa39fc4f2d349f3cee840ec0df37c 100644 --- a/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.0.0", - "timestamp": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:09:23", "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/fanuc_m710ic_70/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710ic_70/.metadata/com.nvidia.simready.packaging.bom.json index 3f589999a137559cd139c52548c73bcb36b8d520..fd157cef1ebfa5ce065ef97d53c4886f3e966119 100644 --- a/fanuc_m710ic_70/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710ic_70/.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/fanuc_m710ic_70/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m710ic_70/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49437, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "60678caf466441b20cc980d25651ae4cad35d680a6cb335ac019829b84246b9b", + "sha256": "06dfaae702000e6d9fc552d2267886882dc632a5aa12cb665f7cb8291bae4e31" } }, { @@ -18,20 +18,12 @@ "sha256": "90d0642580dd8539a441af86c1c8938cf005b1143cce46e483751ac1892450e8" } }, - { - "relative_path": ".thumbs/m710ic_70.thumb.usd", - "size": 6126, - "hash": { - "sha256-flat-1mb": "df8a419ec7014ffdb186d785ae2b9d3438c54e330456322a1f5e037f454c0504", - "sha256": "be80a35814496d449b5fb9916908bdbcc13a7a93925922c37efadeb095390f4f" - } - }, { "relative_path": "m710ic_70.usda", - "size": 15996, + "size": 81542, "hash": { - "sha256-flat-1mb": "6857ad4ef253ff1202d71e3abea26add9a42632e12ea76dd2725d7f5d88eeea6", - "sha256": "bc09407e7fca8825991e61c45bef7e7bc735c7c173d0ba7b75d678c781fb56a3" + "sha256-flat-1mb": "227e037183dfe851f5451909de448a41484e207a7288167b2600e82b80816fdd", + "sha256": "97953dae25cba9fe23b76bd3c04f612b5da1e8cf0ac49c10e188735e1c3b0451" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 46305, + "size": 46369, "hash": { - "sha256-flat-1mb": "d835b6118094b219bfda13607da656496e3e7207f186a135120a8c0464fc45b9", - "sha256": "93bf25b6cb8e57d99dae1e622f07057faa39c18c1fb8f1d29669b441ca923f24" + "sha256-flat-1mb": "6b5b580b8e0c543d5f4091768c1ff11782ee3750c59c9bed4fa00dda28c6d50a", + "sha256": "fde9c11a07722f216832457df1b406724964856f9b9985e97a3f7f9918d54b61" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m710ic_70/.simready/validation.json b/fanuc_m710ic_70/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_m710ic_70/.simready/validation.json +++ b/fanuc_m710ic_70/.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": 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"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/fanuc_m710ic_70/.thumbs/m710ic_70.thumb.usd b/fanuc_m710ic_70/.thumbs/m710ic_70.thumb.usd deleted file mode 100644 index 427bed88482765003a8475675d91a28fb788ef3e..0000000000000000000000000000000000000000 Binary files a/fanuc_m710ic_70/.thumbs/m710ic_70.thumb.usd and /dev/null differ diff --git a/fanuc_m710ic_70/com.nvidia.simready.packaging.json b/fanuc_m710ic_70/com.nvidia.simready.packaging.json index 2d48bac14fa58459c27ee6728a8e953de30ce66a..a596f675c82d33b2649ff3510542a6f0f5fd307d 100644 --- a/fanuc_m710ic_70/com.nvidia.simready.packaging.json +++ b/fanuc_m710ic_70/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_70.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_70.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "dc3e90cb50011567b3e2ac0b762bdb8d854cbdcbeb318bd8d6acb3578fceee95" + "sha256": "f978eeaa7f98b5bebeac0624161510f113ba8c94adaeae100775effb8a6c1b36" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "74f2c72b24e2a283669bc7b51f90b359527862a7d3c73adbcb0a999814c0dd47" + "sha256": "8ae3ac1ae9bfdaab89a34751eb785c1e94c9cf60afdfda8f37d621729cc5a23c" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "618bebbae3ca70191f01ca1b8cff0650a83aabcc196a31463841b21fc04ad10a" + "sha256": "c24775cee34384762336c9364683e74946320e614d1629eef1c9647ab2cc5748" }, "package_hash": { - "sha256": "e3055b30df27a387d48947b66cbf632b6d041aa7bcda91f29d95f2f92ad01bfe" + "sha256": "fd9b10fa0b89676b91492f4572b7c07e4d0a784fb627cf15cb230967f1dbd74c" } } diff --git a/fanuc_m710ic_70/m710ic_70.usda b/fanuc_m710ic_70/m710ic_70.usda index bf4b58df73f540ec75e978e6b29e567a44849a90..7182cc753436b23f334137e75ab782675f4e570b 100644 --- a/fanuc_m710ic_70/m710ic_70.usda +++ b/fanuc_m710ic_70/m710ic_70.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/fanuc_m710ic_70/payloads/materials.usda b/fanuc_m710ic_70/payloads/materials.usda index 6c1837f22ee77b8201ac405267125dd977497f66..39e2addb3c85933f6b3729685ace7aba2df1d4c6 100644 --- a/fanuc_m710ic_70/payloads/materials.usda +++ b/fanuc_m710ic_70/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1295,7 +1295,7 @@ 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/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 370a33783937c39ab7595f372124a7ec9aeab07c..e4123a87d35c58036129553945c0a21477fa2e94 100644 --- a/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:18:15", + "timestamp": "2026-11-02T23:09:24", "assets": [ { "asset": "m710id_50m.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": "aa251bd91e06de25ef5cdb28f4a5afcb776253931ae774bb128e8aa56ef0e34d" + "sha256": "77d077d5442b2e098361d0ec1990f7350e759e4171b82d119552efa0664dcf9f" } } diff --git a/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..20c679a5b6b0ee0cd687af2a856653fcff99949e 100644 --- a/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m710id_50m/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:09:25", "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/fanuc_m710id_50m/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710id_50m/.metadata/com.nvidia.simready.packaging.bom.json index 7e48dcc0993631129cbbab4f712d576b1576df09..36604433e545dfe0e48f980c9ff4ee12e17f7869 100644 --- a/fanuc_m710id_50m/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710id_50m/.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/fanuc_m710id_50m/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m710id_50m/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" } }, { @@ -18,20 +18,12 @@ "sha256": "e140aaaba0b29e232a69f4e88f4ca1fb7e6eaf5c68ed561306cc41a483046eea" } }, - { - "relative_path": ".thumbs/m710id_50m.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "6a38fa109cf2a14a478529c48ff2dd0eef649b7c2b331ab4f1120cb1f8af9ab9", - "sha256": "4f1519e4e349e986cdc2d3169045db89e174155b9cf71179a930baf209a5171d" - } - }, { "relative_path": "m710id_50m.usda", - "size": 16006, + "size": 81552, "hash": { - "sha256-flat-1mb": "8c52f4a39654ee3df968b5262900906d032145fde68cafb60c438fefc66328c6", - "sha256": "522d15f54283c4d23b1429f08165a7c3cc972c7b166072cd4fc67900ea63642c" + "sha256-flat-1mb": "e89bfb0327e1f4764dc496bd8e57a3818bfae26eaa74b0a2e9e482a329665a0a", + "sha256": "af0e4bc83b47c336a4fd2f86ea43ce35b9bf94c55e1bcad64ee8ec62fd19cff4" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 57830, + "size": 57910, "hash": { - "sha256-flat-1mb": "419b37ba2a528f09f95f5e853af4fe717f97739c9dab1982e7855c7acf1aaeca", - "sha256": "a306e7f6856c6f406530cab7480884f5502320e1b1ee874d9ff13017569d37d1" + "sha256-flat-1mb": "e3ffb9587bb86bdafeda00870924019c8d91b46d5f68f80b5124d2ed6f261364", + "sha256": "474eed528ced87e3e7b4e6fd9815dfe6aa987ac1b9bb5bd0fb40b063e0e18d49" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m710id_50m/.simready/validation.json b/fanuc_m710id_50m/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_m710id_50m/.simready/validation.json +++ b/fanuc_m710id_50m/.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", + "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": 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"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/fanuc_m710id_50m/.thumbs/m710id_50m.thumb.usd b/fanuc_m710id_50m/.thumbs/m710id_50m.thumb.usd deleted file mode 100644 index 70781bba443da2e3e333f97b42729405b2cb07f3..0000000000000000000000000000000000000000 Binary files a/fanuc_m710id_50m/.thumbs/m710id_50m.thumb.usd and /dev/null differ diff --git a/fanuc_m710id_50m/com.nvidia.simready.packaging.json b/fanuc_m710id_50m/com.nvidia.simready.packaging.json index eb56fa1f0e21bd71fb8c2e0cd3e8fa8abb223cc0..e916355fc1728a21989ba47bf3a4cc2f32f256b1 100644 --- a/fanuc_m710id_50m/com.nvidia.simready.packaging.json +++ b/fanuc_m710id_50m/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710id_50m.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710id_50m.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "8770f5b5574a0d061a7a2632cf66227d69fc9e052ca5b0b8c19ef3b3c28153fc" + "sha256": "e698410cb94f929d201ff74a8e83a7653ff627867efcd0885a4a797d88df5bb3" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "ee9b6c0efc7d2f52f80856e1c8e4609eeeda220d9cbad1be844cdf36b5dbfc7b" + "sha256": "a7bdd81046faf9216caa6313807c5562086785aff399b750ef62568e1a63fb2d" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "66125341c8f45e5db72cf8173b34e7c2e434558fd5ab5ab56e97f603a78100da" + "sha256": "77d077d5442b2e098361d0ec1990f7350e759e4171b82d119552efa0664dcf9f" }, "package_hash": { - "sha256": "b89f6bdd2e9aef3ccaa62b02927b3d922a9a2e899514d79bf169f5fad891f932" + "sha256": "ae690a24a451f349194244aa2071aad6c251f2fc0c7a5109c6eb05e8607f52e5" } } diff --git a/fanuc_m710id_50m/m710id_50m.usda b/fanuc_m710id_50m/m710id_50m.usda index 2295207abc76094b2d1d2825474e60a97e7dbe44..13f64418312e7c787ebc7e2533e4c200da3813ab 100644 --- a/fanuc_m710id_50m/m710id_50m.usda +++ b/fanuc_m710id_50m/m710id_50m.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/fanuc_m710id_50m/payloads/materials.usda b/fanuc_m710id_50m/payloads/materials.usda index bd8631497f7b79877678a320a6ce1626ff6047f8..1857b606f535929b2a2c6856f8cb5f07f16924d2 100644 --- a/fanuc_m710id_50m/payloads/materials.usda +++ b/fanuc_m710id_50m/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -809,7 +809,7 @@ 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) @@ -830,7 +830,7 @@ 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" ) @@ -972,7 +972,7 @@ 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) @@ -993,7 +993,7 @@ 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" ) @@ -1134,7 +1134,7 @@ 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) @@ -1155,7 +1155,7 @@ 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" ) @@ -1296,7 +1296,7 @@ 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) @@ -1317,7 +1317,7 @@ 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" ) @@ -1458,7 +1458,7 @@ 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) @@ -1479,7 +1479,7 @@ 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" ) @@ -1620,7 +1620,7 @@ 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/fanuc_m710id_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710id_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index c64472a6d582725e66dc624833f891058cae0227..0e9ecccd186da3c29c74b104b8f201c598bd5735 100644 --- a/fanuc_m710id_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710id_70/.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": "2026-10-26T18:18:18", + "timestamp": "2026-11-02T23:09:26", "assets": [ { "asset": "m710id_70.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": "dd48382905f8c2564243308230963a0748fb89c6615d004799c0a7fb30d4cdde" + "sha256": "f7d53486290344e6dc36d53278468be851f99f9ce0fcfc03983f79f8cead00cf" } } diff --git a/fanuc_m710id_70/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m710id_70/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..d1ff66a43cebc95557d4832710cb1b7f5271c826 100644 --- a/fanuc_m710id_70/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m710id_70/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:09:28", "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/fanuc_m710id_70/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710id_70/.metadata/com.nvidia.simready.packaging.bom.json index b6449230299c4ed20bba5ae577e0bd8cb0cecb3e..5013de93c8e75ef3e4918613398f142d6d7391db 100644 --- a/fanuc_m710id_70/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710id_70/.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/fanuc_m710id_70/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m710id_70/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49437, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "60678caf466441b20cc980d25651ae4cad35d680a6cb335ac019829b84246b9b", + "sha256": "06dfaae702000e6d9fc552d2267886882dc632a5aa12cb665f7cb8291bae4e31" } }, { @@ -18,20 +18,12 @@ "sha256": "577adef97e2c5f38de770b7cc922e9c6b95052cd2153548bfe8d880e1c599810" } }, - { - "relative_path": ".thumbs/m710id_70.thumb.usd", - "size": 6126, - "hash": { - "sha256-flat-1mb": "3128b69d3eee06b0e408918658ccb61a3317ec17c36424095e97add5b9a32d5a", - "sha256": "a75a7422365dfa57c6e5d5a8de2b267aae1a88793ba7c254a242d90019962990" - } - }, { "relative_path": "m710id_70.usda", - "size": 15999, + "size": 81545, "hash": { - "sha256-flat-1mb": "1074e813235eeda90e06c53b0d8cdb3fc46dbf2ff44f187baffbb22985583f77", - "sha256": "3f9c3abf024c7a01e37999c07aa4e66f705391d033304c385e6caf4dde86e9be" + "sha256-flat-1mb": "a3f896a64dffedb0d0662a7cf9f39d43ba967d30856a762c6508937e008e2fea", + "sha256": "aee3b8f5389cbfc4f4f8b2fe029e84ba5ceefad123d7a0fff9c4e37ec3670769" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 63482, + "size": 63570, "hash": { - "sha256-flat-1mb": "d7cb2c4624dc8718c107191f56b13b08cfa21ba906d1b6af0b1d3886173208bd", - "sha256": "5322e34383584e08dd7c7e19cc1de45f2bdb9d46b2e658cf3f247ffc0480d852" + "sha256-flat-1mb": "08c72b17e3973ff64b6f501b9414ee3bb8cf317c70bcacdd398ddd92d6c7002e", + "sha256": "1132422e86c0d247f8dce290269d23bcb045dbcbcaa4999b1d95c48e901826bf" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m710id_70/.simready/validation.json b/fanuc_m710id_70/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_m710id_70/.simready/validation.json +++ b/fanuc_m710id_70/.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", + "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" + } + ], 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"display_name": "Simulate Multi-Body Physics (Robot Newton)", + "family": "FET004", + "runtime": "RobotNewton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + } + } + } } } } diff --git a/fanuc_m710id_70/.thumbs/m710id_70.thumb.usd b/fanuc_m710id_70/.thumbs/m710id_70.thumb.usd deleted file mode 100644 index 998d9fab07f54f03dd766a52441e7c14290ca93a..0000000000000000000000000000000000000000 Binary files a/fanuc_m710id_70/.thumbs/m710id_70.thumb.usd and /dev/null differ diff --git a/fanuc_m710id_70/com.nvidia.simready.packaging.json b/fanuc_m710id_70/com.nvidia.simready.packaging.json index aae2c6b7eca900bbe2f40dc54f5072193de8e104..0a5dd4d20cb2e11f36f6ff0cd350fa0d67bcffc7 100644 --- a/fanuc_m710id_70/com.nvidia.simready.packaging.json +++ b/fanuc_m710id_70/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710id_70.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710id_70.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "5c0c8b7cb229afcb0647da42589b4e1c3b376b205c72e32842a8b3db930884ef" + "sha256": "7b1175eb4078c515107719993a5408a09fc028ba05ed8e5d622b1a656f8b2a6f" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "6d4f6791b397e05e72e15d7ee5e617a43c960dc5af9d624bbd1a98821e3fa75a" + "sha256": "b185e47d27cb933875dade7f535467a41f223369d5bf41365396f7cbec44dc72" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "93d9d9f9864018cecabc93e5efe54af311ffdd879a9aac63ee30d6994c3007b8" + "sha256": "f7d53486290344e6dc36d53278468be851f99f9ce0fcfc03983f79f8cead00cf" }, "package_hash": { - "sha256": "549ded892c80e6a5649d1a62003077f542e4e4157669f74774df49b3e0462e8b" + "sha256": "981200b26dc06f5c3cef6630231632382135d07c7e3cb892df11f6a664632932" } } diff --git a/fanuc_m710id_70/m710id_70.usda b/fanuc_m710id_70/m710id_70.usda index 4f7e76a530d66c0ec4991171b20f3ab9fa63bbdc..8eb37abd50f69559b6f1d1b9a5343cc2c9f8c01b 100644 --- a/fanuc_m710id_70/m710id_70.usda +++ b/fanuc_m710id_70/m710id_70.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/fanuc_m710id_70/payloads/materials.usda b/fanuc_m710id_70/payloads/materials.usda index a5ca4cae26134bf02d766e7915f057921a8caac7..03da935aa6e1c54cea69cba3f056741af18e7b3c 100644 --- a/fanuc_m710id_70/payloads/materials.usda +++ b/fanuc_m710id_70/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index f72c0dd0c070c4ac8cb588f3bc84d86a285fa7e0..4ff6ed78deb9469622820e80146fc39dc31383b6 100644 --- a/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m800_60_20b/.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": "2026-10-26T18:18:20", + "timestamp": "2026-11-02T23:09:29", "assets": [ { "asset": "m800_60_20b.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": "0cf2c9ba0f1f980529a4040fdabe805c80cf56a80a90ff4a34932de1e2191200" + "sha256": "651f193e803115b38367a509afa264e00ae13b6869a7f3f8e708277bb3cd3475" } } diff --git a/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..1e47c46fde2977011b3a8b0493002bcde64028b9 100644 --- a/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.0.0", - "timestamp": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:09:31", "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/fanuc_m800_60_20b/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m800_60_20b/.metadata/com.nvidia.simready.packaging.bom.json index 222fdf97dc6dfdd90e65dfe1c3ba1e9121826d3e..244d2a64106d5ef1cf7a13a5c2c9f64731c2af96 100644 --- a/fanuc_m800_60_20b/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m800_60_20b/.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/fanuc_m800_60_20b/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m800_60_20b/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" } }, { @@ -18,20 +18,12 @@ "sha256": "e8eaba3ede2b9f90c102b8302226cb0fdc7544ecaa58ecec23e4a64d0bec3658" } }, - { - "relative_path": ".thumbs/m800_60_20b.thumb.usd", - "size": 6128, - "hash": { - "sha256-flat-1mb": "61140f7f74b33eaab999c2f9bd88b1688a2689446692778ccca6cbde27446a93", - "sha256": "80c941c6647e2621d4983818589f6b77c8de64a5e0a417b1d4dc8cb12e8b352d" - } - }, { "relative_path": "m800_60_20b.usda", - "size": 15141, + "size": 80687, "hash": { - "sha256-flat-1mb": "292c2ae46178940ce0f28c135ba65335e359bc40e7fec1f2717b22116cb2e1ee", - "sha256": 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a/fanuc_m800_60_20b/.simready/validation.json +++ b/fanuc_m800_60_20b/.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": 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+ "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" 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"/.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/fanuc_m800_60_20b/.thumbs/m800_60_20b.thumb.usd b/fanuc_m800_60_20b/.thumbs/m800_60_20b.thumb.usd deleted file mode 100644 index b88d3e6911171dd96ca15b29aeaf8d92f76cf0bf..0000000000000000000000000000000000000000 Binary files a/fanuc_m800_60_20b/.thumbs/m800_60_20b.thumb.usd and /dev/null differ diff --git a/fanuc_m800_60_20b/com.nvidia.simready.packaging.json b/fanuc_m800_60_20b/com.nvidia.simready.packaging.json index 2a5f0b06f229cc060518650489c2cef3de166913..26132e0cab5317dfacd94c27a7879a8e304ee3ef 100644 --- a/fanuc_m800_60_20b/com.nvidia.simready.packaging.json +++ b/fanuc_m800_60_20b/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m800_60_20b.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m800_60_20b.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "456025af8d18b712b746b19bf583700e4f24f762351ed138592a9fb39fb46db9" + "sha256": "2ecfe2f53bab4333d7474f38395741469e5122947de1c0072ac112ff7337102e" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "16dd115f3de6cddd2f259eeb3e1dac7127a0ac9f717a238405ac532b59095f75" + "sha256": "a98fd19ef2edfd7a0afb84f6833dc1cead6717c820f5e35ad538882d2abcc22d" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "d2b3be11707aacf24a2e34b2bda8a20be2f78db9ce5a20d54cc92d120aa6103a" + "sha256": "651f193e803115b38367a509afa264e00ae13b6869a7f3f8e708277bb3cd3475" }, "package_hash": { - "sha256": "9559837809fcc1c541439bac792deb4f6b09af1a4e0be28e123a7551f0c085e2" + "sha256": "437ba3b55d8ae738995368b45c0094dfadee54da50429c295102732de76576f6" } } diff --git a/fanuc_m800_60_20b/m800_60_20b.usda b/fanuc_m800_60_20b/m800_60_20b.usda index 2afd90aa81e2b111b8cbe7cbc945857d21900fa1..455d44cef1bad39b01141e0c8fcf435ddbe83a9c 100644 --- a/fanuc_m800_60_20b/m800_60_20b.usda +++ b/fanuc_m800_60_20b/m800_60_20b.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/fanuc_m800_60_20b/payloads/materials.usda b/fanuc_m800_60_20b/payloads/materials.usda index 42ca3624235c572fd839680ba888904f85feaf2b..84f67354883b1797843228e002ca97ef3f9d6e24 100644 --- a/fanuc_m800_60_20b/payloads/materials.usda +++ b/fanuc_m800_60_20b/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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) @@ -2125,7 +2125,7 @@ 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" ) @@ -2266,7 +2266,7 @@ 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) @@ -2287,7 +2287,7 @@ 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" ) @@ -2428,7 +2428,7 @@ 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) @@ -2449,7 +2449,7 @@ 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" ) @@ -2590,7 +2590,7 @@ 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) @@ -2611,7 +2611,7 @@ 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" ) @@ -2752,7 +2752,7 @@ 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) @@ -2773,7 +2773,7 @@ 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" ) @@ -2914,7 +2914,7 @@ 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) @@ -2935,7 +2935,7 @@ 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" ) @@ -3076,7 +3076,7 @@ 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/fanuc_m900ia150p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ia150p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 52c41dcdb69fbed39fa521fd05973e44c8ae8b47..2798db3e7b767b0f384f2838efbced4993094a18 100644 --- a/fanuc_m900ia150p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ia150p/.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": "2026-10-26T18:18:22", + "timestamp": "2026-11-02T23:09:32", "assets": [ { "asset": "m900ia150p.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": "eb6abe29297d7ffbdb694e9400482d0fdf06b0684be39768057d8ab6a0ac9ef7" + "sha256": "2ac630055c460e35743facf574993d91e426682aa12446fafdc5fd2e5b8d44c1" } } diff --git a/fanuc_m900ia150p/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m900ia150p/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..ea4cf3b0537d40196e517e4f90f3cacf7311ca63 100644 --- a/fanuc_m900ia150p/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m900ia150p/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:09:34", "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/fanuc_m900ia150p/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ia150p/.metadata/com.nvidia.simready.packaging.bom.json index 2c5fc44b4b0ef86d4677b218c54f396b65bc28fe..dafa9b4900463ee51db3a8586e260acd9f8ad612 100644 --- a/fanuc_m900ia150p/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ia150p/.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/fanuc_m900ia150p/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m900ia150p/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49554, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "40dc12751a5ba813c7cf279478b0be841a516b0772d513b5e4d1e074bd41f88e", + "sha256": 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"f70e2609a540ecb32cc17e1e4ddf6976262eecabd5329fd10e3ee603c50ad898", - "sha256": "a0943f7c4848c6fa37fb6e6a9bcfaf7aa3a6f944e03b78d882fd16e4a361fdf0" + "sha256-flat-1mb": "abfe8360cfc90d3f129888a4ca7c8c3adae069effbd2c44bccee4a14cb8e4c50", + "sha256": "761e3f7fd6fd5ba29659fe37beac0419b7515b3f8278a4ce1df6374672cedf3a" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m900ia150p/.simready/validation.json b/fanuc_m900ia150p/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..7a04e1db0d99a5d4b6dda15aa159799bff02e5ff 100644 --- a/fanuc_m900ia150p/.simready/validation.json +++ b/fanuc_m900ia150p/.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": { + 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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": true, + "status": "pass", + "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": false, + "status": "incomplete", + "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", + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + "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": true, + "status": "pass", + "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": true, + "status": "pass", + "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/fanuc_m900ia150p/.thumbs/m900ia150p.thumb.usd b/fanuc_m900ia150p/.thumbs/m900ia150p.thumb.usd deleted file mode 100644 index 3e3a53839afe055d593f78dbe59839b9f85ad7f6..0000000000000000000000000000000000000000 Binary files a/fanuc_m900ia150p/.thumbs/m900ia150p.thumb.usd and /dev/null differ diff --git a/fanuc_m900ia150p/com.nvidia.simready.packaging.json b/fanuc_m900ia150p/com.nvidia.simready.packaging.json index 23e5577a394122aaf64aacfaede3c5ead14983bf..06fc77ad48d9df39b05d4b77b6fdf78c6beb46ea 100644 --- a/fanuc_m900ia150p/com.nvidia.simready.packaging.json +++ b/fanuc_m900ia150p/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ia150p.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ia150p.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "a22116269230102ce7f3f371265400729af0381fa15bef839abf3a1dba131860" + "sha256": "773ea4bfe98b1d7e3909fd485659a235b334346fc60de63af4d65d5f9b229c32" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "360f9d93f314d1df6319e979249711f06dd9ea4d079fb9890af54901cfafb51a" + "sha256": "6656612d5afe57948e6f3ed0cdda87dfc1c6bf3ff1e1d0228ee1edc35e6ad3ad" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "8bb4f17514edab59cda9b2f7aa0f531171b9606e8dca181d453bf169b2fddb26" + "sha256": "2ac630055c460e35743facf574993d91e426682aa12446fafdc5fd2e5b8d44c1" }, "package_hash": { - "sha256": "efcb0e9a4c39920e49f37841b0d5962ec324cb0e2783af027c317d9c886c1189" + "sha256": "860e424113bd10156372a3260aadc387d0195fd4576011f77fa7203b57b8f431" } } diff --git a/fanuc_m900ia150p/m900ia150p.usda b/fanuc_m900ia150p/m900ia150p.usda index 2f055320e2b4100f799338d64e8e3aa063fd480b..b57aa0bd436290cd222c2c1da553b44398b1e4c8 100644 --- a/fanuc_m900ia150p/m900ia150p.usda +++ b/fanuc_m900ia150p/m900ia150p.usda @@ -21,11 +21,963 @@ } } } + 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 = 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/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 = 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/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 = 1 + string provider = "simready.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/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 execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "effort_limit_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/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 = 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/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 = 1 + string provider = "simready.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/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/fanuc_m900ia150p/payloads/materials.usda b/fanuc_m900ia150p/payloads/materials.usda index 7e6431488d8e7b676e7552f281d755e91020a4fe..5db59878998e46a61ec13e2abe7411d1acf19146 100644 --- a/fanuc_m900ia150p/payloads/materials.usda +++ b/fanuc_m900ia150p/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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/fanuc_m900ia200p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ia200p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 05dfb84765a347b51ed23fcf519e01e79beec83b..d399edb835afc71d374a2548441c208070371c41 100644 --- a/fanuc_m900ia200p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ia200p/.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": "2026-10-26T18:18:24", + "timestamp": "2026-11-02T23:09:35", "assets": [ { "asset": "m900ia200p.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": "4bf19e5f1ace3b7b6aed57ea8e2dce6501c64f2783ff99e3e3486934c782705c" + "sha256": "38ff14234673dbf6d43ae30dadf38a83d4825bc1be2910cce7b517ad3ea6cef6" } } diff --git a/fanuc_m900ia200p/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m900ia200p/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..74688e6d51fa9e86e3eb9d04f87a663137302ec3 100644 --- a/fanuc_m900ia200p/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m900ia200p/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:09:37", "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/fanuc_m900ia200p/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ia200p/.metadata/com.nvidia.simready.packaging.bom.json index 2b1ae36ac7af7f2e647f1a22fa25146dbcf40f5b..a3ffd003efc6ab15ce2d4ecd4fb9ef551e11a893 100644 --- a/fanuc_m900ia200p/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ia200p/.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/fanuc_m900ia200p/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m900ia200p/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49554, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "40dc12751a5ba813c7cf279478b0be841a516b0772d513b5e4d1e074bd41f88e", + "sha256": "3e09f59d15016daebcbb714cc173595e7fb4c1ba0affa47518359787d54b58af" } }, { @@ -18,20 +18,12 @@ "sha256": "34b799252f57e0a71e6c99789529878791a4e4477f6ae329ac94db22df5589a1" } }, - { - "relative_path": ".thumbs/m900ia200p.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "97085bdd22d4f24fef77ebe3acff03199009e1db08c2e952be3550a700ab63e6", - "sha256": "0740d1c05f0e1b475bdb86459347c0ee0ab46c142a23a9e495202de577fc60dd" - } - }, { "relative_path": "m900ia200p.usda", - "size": 16500, + "size": 82221, "hash": { - "sha256-flat-1mb": "33d4dfa8d9b105d64ea968958a429746e31cc64825b5976145c19c9e570af78e", - "sha256": "5c1b80cad3c024b7883b1a8987e71489e075ae549e52069929ac5cabe162753e" + "sha256-flat-1mb": "077fe2cc5455809ce8b3e18845a2b5ebe9e1b5d745114c5847ebb6271a9d7915", + "sha256": "33890d06597c735730bbead538ed4c74be889d10ee6066c74b1a436b61f84e04" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 80853, + "size": 80965, "hash": { - "sha256-flat-1mb": "897069b39f47f07521f5f8be249c9c89ce6b8c977a1f5a0052241d3410b8765b", - "sha256": "a9c92841abd9978c2321aeedff623e427bdcb3a6597b67b1f05435b5641a26ce" + "sha256-flat-1mb": "c8bc9f920e4d449837920b8d68577ab73f60477a17d14609f517da0881349ffc", + "sha256": "dded5530a53f43ae8aae034665eb5e55cd4308a946a11f3ec0dff81415d5e448" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m900ia200p/.simready/validation.json b/fanuc_m900ia200p/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..7a04e1db0d99a5d4b6dda15aa159799bff02e5ff 100644 --- a/fanuc_m900ia200p/.simready/validation.json +++ b/fanuc_m900ia200p/.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": { + 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"mimic_joint_newton": { + "passed": true, + "status": "pass", + "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": true, + "status": "pass", + "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/fanuc_m900ia200p/.thumbs/m900ia200p.thumb.usd b/fanuc_m900ia200p/.thumbs/m900ia200p.thumb.usd deleted file mode 100644 index 08fd2259ce82480e982b6f34fb1ed3c9619b7a52..0000000000000000000000000000000000000000 Binary files a/fanuc_m900ia200p/.thumbs/m900ia200p.thumb.usd and /dev/null differ diff --git a/fanuc_m900ia200p/com.nvidia.simready.packaging.json b/fanuc_m900ia200p/com.nvidia.simready.packaging.json index 0b285b2863dfbc3f87f8e03efb106bd9a2109558..edaf7845cb0d852ab8a05b8f25246c983cee1213 100644 --- a/fanuc_m900ia200p/com.nvidia.simready.packaging.json +++ b/fanuc_m900ia200p/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ia200p.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ia200p.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "4e5c3596fc8e767a48170b2801afc8a9f751c57e13d7e875700b310edcdd27c1" + "sha256": "0d490d07b36604d04a212845973ddf338f2da8c3dbed52a77a19972b9534ba2d" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "3e06b4506f9af4b7d1d9f3f38326b92f86b172d9d342d6188872954a99b5379e" + "sha256": "cc410727bcd0bbf7b903fd5c3aaad267956b2dbfb37b4c465a5e40fc3d5c772d" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "16e58ffd0f798d3cfbb258f8f8e7e5ca80f8b7e45bfa72e3d3a8572a4215dd43" + "sha256": "38ff14234673dbf6d43ae30dadf38a83d4825bc1be2910cce7b517ad3ea6cef6" }, "package_hash": { - "sha256": "a3d488ca88540b229790b5497df1b8612ca33350338d2360716eb166654623b8" + "sha256": "d36e0b1326b1a6e797bcca0718b85170cb19b3bc7e6c2482419ddc972686d664" } } diff --git a/fanuc_m900ia200p/m900ia200p.usda b/fanuc_m900ia200p/m900ia200p.usda index ed67b54ad7a2d7cd59dd2ccc9c6565e967d61912..d436184e7b756553e78c1ff8bb8e1a691eeca6f5 100644 --- a/fanuc_m900ia200p/m900ia200p.usda +++ b/fanuc_m900ia200p/m900ia200p.usda @@ -21,11 +21,963 @@ } } } + 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 = 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/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 = 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/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 = 1 + string provider = "simready.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/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 execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "effort_limit_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/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 = 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/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 = 1 + string provider = "simready.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/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/fanuc_m900ia200p/payloads/materials.usda b/fanuc_m900ia200p/payloads/materials.usda index fd5e5c568cb2481c392ea69777fc7b20cc8457fc..98ab0c05ae3cf34426151b4262926b9d9f515b13 100644 --- a/fanuc_m900ia200p/payloads/materials.usda +++ b/fanuc_m900ia200p/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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) @@ -2125,7 +2125,7 @@ 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" ) @@ -2266,7 +2266,7 @@ 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/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 300061991a905eef798133ff269cb0313d65a025..2160cdd589297bea433a2f903dc451dcb4c176dd 100644 --- a/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:18:26", + "timestamp": "2026-11-02T23:09:38", "assets": [ { "asset": "m900ib280.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": "6a3812ddd5bf3c0274b0e21f03dcfd2726591f8f4c6295b593d8a5bff45b1aa4" + "sha256": "7994c4a1d759bd638d78636651466e342cf8abeeafca22589b7859fdc757e3c7" } } diff --git a/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..3e2a210fd1c393d64999fb1bb1541fa9248d69ee 100644 --- a/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.0.0", - "timestamp": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:09:39", "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/fanuc_m900ib280/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ib280/.metadata/com.nvidia.simready.packaging.bom.json index 20a19487f6d2a4a1f054d2735c0ca8379a6f1f06..dcee7b468a3045febd9f0e9d9176d965bb2f4c55 100644 --- a/fanuc_m900ib280/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ib280/.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/fanuc_m900ib280/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m900ib280/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49425, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "0a4f834047dcd7425b62be9a4e812bebe2acec9be4d178ab8a99801d1861305c", + "sha256": "8451dd63bc4ae22a9642193a9aee18c8c9e6e22eb33bb239f9537f7f83d8e8bd" } }, { @@ -18,20 +18,12 @@ "sha256": "135d5fbb5ea331e05dba125e194d56520d3edec65bdfa6705433ea9e952ba54e" } }, - { - "relative_path": ".thumbs/m900ib280.thumb.usd", - "size": 6126, - "hash": { - "sha256-flat-1mb": "a110321609101d7d909b5cb526ec032307c03de48aadf511952492b56c9f7004", - "sha256": "0feb9358a98de0a488c77ee3a3a862e48e025be2d63a54ff93ca5a6ad873bae2" - } - }, { "relative_path": "m900ib280.usda", - "size": 18332, + "size": 83869, "hash": { - "sha256-flat-1mb": "1acf2c874db454885c01a8d6b5fe64abf06ef90fee98cc3e10d94ae35527eb8d", - "sha256": "7df01783fe26afbd4bb622cff8863458799d080ef44f29e27ac2d006e81b2564" + "sha256-flat-1mb": "b233490a0e1f2b0181bb6e78fee67d4284619ee802f956bcdf4e8d8a1816cbc4", + "sha256": "3301557819e4de3974153a97e0e3d8f6965c0165f3c43b66221abd86cde4a2da" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 63591, + "size": 63679, "hash": { - "sha256-flat-1mb": "be53531dcd9165f907702129887d4b7b619f9e644af5f749b49f43538844c006", - "sha256": "5ddcb9827e8802d5c0d288c4a3a2d7615a725b720eaa925f753591339f92b076" + "sha256-flat-1mb": "9cf244a01668dff90b3f0f376e8a95bc58297e5c77f97bd28720b3ff2477f382", + "sha256": "1686e65540baa68aaf076c06f832a50b276badeac6ae0ec79ebfc15ebe998aeb" } }, { @@ -189,19 +181,19 @@ }, { "relative_path": "runnables/physics/newton.usda", - "size": 6688, + "size": 6730, "hash": { - "sha256-flat-1mb": "30bdfed9df726cfb7057a8f8d8d96610013d4ceea21e2d306eb1e4862ee403a3", - "sha256": "739059334fdfa9de6feef537bc6cb624fd9fef2511fc75e4e5ba2479c6302c6e" + "sha256-flat-1mb": "2cf52d4a518314ead74f1ca5f5fa6b96476448d96dfcbdacd82a40eaec72e356", + "sha256": "233fb881a654d0abe191e1b46ac4aaed4178cb49fd9c9d0cd4e0f1646ae95b9b" } }, { "relative_path": "runnables/physics/physx.usda", - "size": 5158, + "size": 6357, "hash": { - "sha256-flat-1mb": "5ac0d664b34e4b8c052aa7e9649387d3f3427b4c2628c9fb977bebfaaf011f62", - "sha256": "ff4559f8ab843a9d8ade10e53918db38eb48cf2b4cccac6ef65b77095d5c562c" + "sha256-flat-1mb": "a1ab349e2e8129ab8501288e8d6fccc666cbdbffb5c9c92a65424064a447f30a", + "sha256": "88870873d7ca51f0106cb2b4dd8486885b6c5285fbfcb6fdade2b624686ef141" } } ] -} +} \ No newline at end of file diff --git a/fanuc_m900ib280/.simready/validation.json b/fanuc_m900ib280/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..bc75ce3b43ab70760368c12c56235b79306f3b91 100644 --- a/fanuc_m900ib280/.simready/validation.json +++ b/fanuc_m900ib280/.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", + "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": 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+ "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/fanuc_m900ib280/.thumbs/m900ib280.thumb.usd b/fanuc_m900ib280/.thumbs/m900ib280.thumb.usd deleted file mode 100644 index 0dbb53231caf557769b7ff71f23c8e61383c1c01..0000000000000000000000000000000000000000 Binary files a/fanuc_m900ib280/.thumbs/m900ib280.thumb.usd and /dev/null differ diff --git a/fanuc_m900ib280/com.nvidia.simready.packaging.json b/fanuc_m900ib280/com.nvidia.simready.packaging.json index 5e495d1b29aa782d4421143d725521c30a9efb11..546083933dea4805d3f180b40acc1a10b50db192 100644 --- a/fanuc_m900ib280/com.nvidia.simready.packaging.json +++ b/fanuc_m900ib280/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib280.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib280.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "2981305bc8f4f4ca86ed950f2933225119312ebea5c1de64aa427e01be38debe" + "sha256": "9c188fc34ded7622c3f633e1fdc5b32dcd1fdbd4d16a74aa66fb1495872f3f7e" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "f1757a2d681efff1d792b126dbc147a6a3faa7886c05467cca9406fcdf793137" + "sha256": "68e277cadd0d72115a1219f538acc59b6258159b523144ec42b37add250553cc" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "744884f8b8e426a825888d0801ab4ac647f9f72f54f61cc55efe0de9be037bc5" + "sha256": "7994c4a1d759bd638d78636651466e342cf8abeeafca22589b7859fdc757e3c7" }, "package_hash": { - "sha256": "f9ff97229ab18a75fe58d9f4041bb7195190cd01aca2a8b30481aae1520b91ba" + "sha256": "ac8403eb69ad964b20a8102961c051758325e1609b7871af147c1899db131063" } } diff --git a/fanuc_m900ib280/m900ib280.usda b/fanuc_m900ib280/m900ib280.usda index e16be3926b7f559afeb39e849b7f2d4d6cc4bf1d..6a39822a5dbf83f4c79d5953ed86a3ef3e6393be 100644 --- a/fanuc_m900ib280/m900ib280.usda +++ b/fanuc_m900ib280/m900ib280.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 = 1 + string provider = "simready.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/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 = 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/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 = 1 + string provider = "simready.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/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/fanuc_m900ib280/payloads/materials.usda b/fanuc_m900ib280/payloads/materials.usda index cbfb6529b01c7e127d63460e1fef48ddad661873..5324b19461bafffdc9c86e853accc3e34b32a020 100644 --- a/fanuc_m900ib280/payloads/materials.usda +++ b/fanuc_m900ib280/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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/fanuc_m900ib280/runnables/physics/newton.usda b/fanuc_m900ib280/runnables/physics/newton.usda index fb6d83d0c9c3293e6c6e2a90387d495b41568c41..ba0b27f13c9cfd24800c4a104287225f1feb9b86 100644 --- a/fanuc_m900ib280/runnables/physics/newton.usda +++ b/fanuc_m900ib280/runnables/physics/newton.usda @@ -246,6 +246,7 @@ over "m900ib280" over "P2_01" { uniform bool physics:excludeFromArticulation = 1 + bool physics:jointEnabled = 0 } } } diff --git a/fanuc_m900ib280/runnables/physics/physx.usda b/fanuc_m900ib280/runnables/physics/physx.usda index b9a495aeb5e4af38947fea5234c5814168e7f428..ce8b332d3c8b877849550874c21bb98e49774035 100644 --- a/fanuc_m900ib280/runnables/physics/physx.usda +++ b/fanuc_m900ib280/runnables/physics/physx.usda @@ -15,6 +15,8 @@ over "m900ib280" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 109.99999 } @@ -22,6 +24,8 @@ over "m900ib280" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 104.99999 } @@ -29,6 +33,8 @@ over "m900ib280" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 99.99999 } @@ -36,6 +42,8 @@ over "m900ib280" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 124.99999 } @@ -43,6 +51,8 @@ over "m900ib280" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 124.99999 } @@ -50,13 +60,18 @@ over "m900ib280" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 204.99998 } over "P1" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotY", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + uniform bool physics:excludeFromArticulation = 0 custom float physxMimicJoint:rotY:dampingRatio = 0.005 float physxMimicJoint:rotY:gearing = 1 custom float physxMimicJoint:rotY:naturalFrequency = 25 @@ -68,6 +83,8 @@ over "m900ib280" prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotY", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 custom float physxMimicJoint:rotY:dampingRatio = 0.005 float physxMimicJoint:rotY:gearing = -1 custom float physxMimicJoint:rotY:naturalFrequency = 25 @@ -79,6 +96,10 @@ over "m900ib280" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + uniform bool physics:excludeFromArticulation = 1 + bool physics:jointEnabled = 0 } } diff --git a/fanuc_m900ib280l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ib280l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 5daca1ecb9128acd6c019594525d0e59c9923479..e6feb761ede98f01800f5f918b13e9fe68fdc705 100644 --- a/fanuc_m900ib280l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ib280l/.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": "2026-10-26T18:18:29", + "timestamp": "2026-11-02T23:09:40", "assets": [ { "asset": "m900ib280l.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": "6d5e86f50dc16dc4050dc04a304a0f02bfa656076510c53b19f004cc71c4808c" + "sha256": "72cbed005ebacaf251ed792d94b5d25bca9bdb671f74d440baa6e8c64218e01b" } } diff --git a/fanuc_m900ib280l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m900ib280l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..911ff42e0b7197bda8aea64a7081bf37019d7a5a 100644 --- a/fanuc_m900ib280l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m900ib280l/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:09:42", "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/fanuc_m900ib280l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ib280l/.metadata/com.nvidia.simready.packaging.bom.json index eeb0b276465d777a2111b5ebec77a5f016b0783d..457c6419c40d3e7ec13af63c7baf57d043cf1cc2 100644 --- a/fanuc_m900ib280l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ib280l/.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/fanuc_m900ib280l/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m900ib280l/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49425, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "0a4f834047dcd7425b62be9a4e812bebe2acec9be4d178ab8a99801d1861305c", + "sha256": "8451dd63bc4ae22a9642193a9aee18c8c9e6e22eb33bb239f9537f7f83d8e8bd" } }, { @@ -18,20 +18,12 @@ "sha256": "09eb364de7c5f1b15b7c32f3777bada17d3c585cbc4ef5665308e1fb34ae4285" } }, - { - "relative_path": ".thumbs/m900ib280l.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "e3fb44dafda136f8474a1c547674e5bbf30508e94c6d03c541be0246928364b7", - "sha256": "305efd8a2ef75371a4d9e533417b4286b84a5ad74c9beac538d0056c909ec392" - } - }, { "relative_path": "m900ib280l.usda", - "size": 16497, + "size": 82034, "hash": { - "sha256-flat-1mb": "8cc84b477d0c20afe8d68573e6ed3b198ac9bf1fac68b5407d39d2d51f52c6e8", - "sha256": "2c0db11b269585b4575382a7ce3851866e6ad6c1abbbdb20aad2e7857d2e84df" + "sha256-flat-1mb": "fec0e051bb4c382412a66bdde219bb9e1fc8e93af73b4f2e8689ffd35b2f2e1b", + "sha256": "4d00df42f5c4a409116a2e6bc5bff617c1b56105151327f96fa289892cb67ac0" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 86656, + "size": 86776, "hash": { - "sha256-flat-1mb": "02af8144e8b7fb42012555ce487309c55c61daa7dd1866ddf41541a7c7b285c6", - "sha256": "098506f212f2c1ae23b28096279920d91670a29aefa6e30c20e529cc6108ecfa" + "sha256-flat-1mb": "5decee21f394a611322e30a2b6d5c0a2ee402f5b2c4b74f464f05e728c357442", + "sha256": "c68bddeff7a8c2a7efd80fd528b92c70b31838f1e1c0a9a25720d54d31c87849" } }, { @@ -189,19 +181,19 @@ }, { "relative_path": "runnables/physics/newton.usda", - "size": 6692, + "size": 6908, "hash": { - "sha256-flat-1mb": "3718f44339d1898596f61d2dd8dbabc3090f118e4fe8117a9ff68d6ab8a6dd6f", - "sha256": "9219b5487be7a003c64ce9dc307edf857348366ed20699690c9461133e67ae95" + "sha256-flat-1mb": "560bbbb1d08930851d90e5ea560ae41100a62659fdf0af3681230e9e30596f30", + "sha256": "8b13f35d4f9e5c70385385c1a5d3f53d6bf867e4167b13b2b12ab33547852d92" } }, { "relative_path": "runnables/physics/physx.usda", - "size": 5162, + "size": 6361, "hash": { - "sha256-flat-1mb": "e84234961cde15857aedb27b30609d8a1b6dad375d63c45cc85184cae39859d0", - "sha256": "3070b3581af2e5d00cb8f9b456b8647963fc350bb68e81c487ac34721fccd570" + "sha256-flat-1mb": "328a31d9f5b7aef2db89f1614dbeac15cd958b853f7e19e19db64608b66f2520", + "sha256": "5b919d47e649b030b84e80fe50fe78a97fd12263bb0e9326360834f1c52658d4" } } ] -} +} \ No newline at end of file diff --git a/fanuc_m900ib280l/.simready/validation.json b/fanuc_m900ib280l/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..bc75ce3b43ab70760368c12c56235b79306f3b91 100644 --- a/fanuc_m900ib280l/.simready/validation.json +++ b/fanuc_m900ib280l/.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", + "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": 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+ ], + "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)", + 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"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/fanuc_m900ib280l/.thumbs/m900ib280l.thumb.usd b/fanuc_m900ib280l/.thumbs/m900ib280l.thumb.usd deleted file mode 100644 index 4d9b721ec5614ab1aead27d4f3922589c74bc0eb..0000000000000000000000000000000000000000 Binary files a/fanuc_m900ib280l/.thumbs/m900ib280l.thumb.usd and /dev/null differ diff --git a/fanuc_m900ib280l/com.nvidia.simready.packaging.json b/fanuc_m900ib280l/com.nvidia.simready.packaging.json index 3d164046afead60f2e361f6e6660598eb49545e3..d6b0c5f6e9ab8531259d31e6ee77da9f001a0de3 100644 --- a/fanuc_m900ib280l/com.nvidia.simready.packaging.json +++ b/fanuc_m900ib280l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib280l.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib280l.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "71a52ba2f1d999ab4b726a46b49019032897b3ce1d247b5ed811feacaf9403de" + "sha256": "e44b644c669a561a87fd200a8c5a0176de840116474819455cde65e933814166" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "4d5497a90a9d60cbb5e6beec15c5dfbf92c42bc63c2fcde135cd68f53eba83a9" + "sha256": "03f34736fcd7065e26c5444181b82d31fe5844467581f5a247a7ba1cb49363a6" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "5d1e732517d19b263e5ad06a605f1c8d1978c47f4c9deef637a4a0f9422b259a" + "sha256": "72cbed005ebacaf251ed792d94b5d25bca9bdb671f74d440baa6e8c64218e01b" }, "package_hash": { - "sha256": "9dfd9fc068cfe12398f543a1285c6192fc87edd7786bd4f0c1338a601741b9f2" + "sha256": "f55bbfd11cc694eb50cd05da5325893b6fc0c929b208857daa61aa36f762778d" } } diff --git a/fanuc_m900ib280l/m900ib280l.usda b/fanuc_m900ib280l/m900ib280l.usda index 40a860d63987e2727cbeed301fc9bb1e73dae3b7..b8db27ecd0bf55af8d19fc7fe2a91c3120bb186f 100644 --- a/fanuc_m900ib280l/m900ib280l.usda +++ b/fanuc_m900ib280l/m900ib280l.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 = 1 + string provider = "simready.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/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 = 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/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 = 1 + string provider = "simready.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/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/fanuc_m900ib280l/payloads/materials.usda b/fanuc_m900ib280l/payloads/materials.usda index 90892a85bd7a7867a1a2265a259cfc7daf1bfa89..e602f204709bc45591f56cb855ad11f85fccd386 100644 --- a/fanuc_m900ib280l/payloads/materials.usda +++ b/fanuc_m900ib280l/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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) @@ -2125,7 +2125,7 @@ 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" ) @@ -2266,7 +2266,7 @@ 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) @@ -2287,7 +2287,7 @@ 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" ) @@ -2428,7 +2428,7 @@ 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/fanuc_m900ib280l/runnables/physics/newton.usda b/fanuc_m900ib280l/runnables/physics/newton.usda index 412974f7a3682ceb7967034929befe0bf579a9af..3e9ed9a771e99b60136582171d9456973d945ea9 100644 --- a/fanuc_m900ib280l/runnables/physics/newton.usda +++ b/fanuc_m900ib280l/runnables/physics/newton.usda @@ -196,6 +196,8 @@ over "m900ib280l" float drive:angular:physics:stiffness = 1800.0001 float newton:damping = 60.000004 float newton:velocityLimit = 124.99999 + float physics:lowerLimit = -150 + float physics:upperLimit = 150 } over "J5" ( @@ -216,6 +218,8 @@ over "m900ib280l" float drive:angular:physics:stiffness = 548.7805 float newton:damping = 18.292685 float newton:velocityLimit = 204.99998 + float physics:lowerLimit = -150 + float physics:upperLimit = 150 } over "P1" ( @@ -246,6 +250,7 @@ over "m900ib280l" over "P2_01" { uniform bool physics:excludeFromArticulation = 1 + bool physics:jointEnabled = 0 } } } diff --git a/fanuc_m900ib280l/runnables/physics/physx.usda b/fanuc_m900ib280l/runnables/physics/physx.usda index 1d13474f9241166beb0aaad64e96633e49776378..152b8d4367e73df2f0c554dbaa96bd322ac33def 100644 --- a/fanuc_m900ib280l/runnables/physics/physx.usda +++ b/fanuc_m900ib280l/runnables/physics/physx.usda @@ -15,6 +15,8 @@ over "m900ib280l" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 109.99999 } @@ -22,6 +24,8 @@ over "m900ib280l" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 104.99999 } @@ -29,6 +33,8 @@ over "m900ib280l" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 99.99999 } @@ -36,6 +42,8 @@ over "m900ib280l" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 124.99999 } @@ -43,6 +51,8 @@ over "m900ib280l" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 124.99999 } @@ -50,13 +60,18 @@ over "m900ib280l" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 204.99998 } over "P1" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotY", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + uniform bool physics:excludeFromArticulation = 0 custom float physxMimicJoint:rotY:dampingRatio = 0.005 float physxMimicJoint:rotY:gearing = 1 custom float physxMimicJoint:rotY:naturalFrequency = 25 @@ -68,6 +83,8 @@ over "m900ib280l" prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotY", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 custom float physxMimicJoint:rotY:dampingRatio = 0.005 float physxMimicJoint:rotY:gearing = -1 custom float physxMimicJoint:rotY:naturalFrequency = 25 @@ -79,6 +96,10 @@ over "m900ib280l" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + uniform bool physics:excludeFromArticulation = 1 + bool physics:jointEnabled = 0 } } diff --git a/fanuc_m900ib330l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ib330l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 720c515fa0edf6a188a7c3fa969d7b3ce997e913..35b6afd30735e6ba61254fa40a469f050a5272d2 100644 --- a/fanuc_m900ib330l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ib330l/.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": "2026-10-26T18:18:31", + "timestamp": "2026-11-02T23:09:43", "assets": [ { "asset": "m900ib330l.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": "672ec8c9f8b824f5dbd6925b57cfdc8b8676c34e713a5b9365854253da5a46fd" + "sha256": "65cee3c9ad8449d517e89913c1deb2a6410ef7a5f4007186357436b0cd2339d2" } } diff --git a/fanuc_m900ib330l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m900ib330l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..465ef92f0135f165fcdd306b52ea56ddde57d7b8 100644 --- a/fanuc_m900ib330l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m900ib330l/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:09:45", "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/fanuc_m900ib330l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ib330l/.metadata/com.nvidia.simready.packaging.bom.json index bbc48c76cd53e32bad0203f3138441d3a43898f9..7554b8f8fe685d06ed63843a58263d5f9802ee94 100644 --- a/fanuc_m900ib330l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ib330l/.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/fanuc_m900ib330l/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m900ib330l/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49425, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "0a4f834047dcd7425b62be9a4e812bebe2acec9be4d178ab8a99801d1861305c", + "sha256": "8451dd63bc4ae22a9642193a9aee18c8c9e6e22eb33bb239f9537f7f83d8e8bd" } }, { @@ -18,20 +18,12 @@ "sha256": "5925d8b535b5e807be6549c6b206ca13fcda82872c3c3ec9c08891483e283095" } }, - { - "relative_path": ".thumbs/m900ib330l.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "5bc2193d9bbccf6e8999b774ebff5e41bd2c8e40e196cd692651dfc92e0f7bf8", - "sha256": "9ac1c0744914591cf5a7ae1ae028abf246ad2c1d7761740fc0e41cbe0551a7f8" - } - }, { "relative_path": "m900ib330l.usda", - "size": 16496, + "size": 82033, "hash": { - "sha256-flat-1mb": "dbff6c3c9d6a0411c2e82bb50ed432add1bc4e4e80771f4ef10ced04e728db0d", - "sha256": "36db8132cb578d43551f53f1c6c8895c3ce981caef6b288244c530d8257fe106" + "sha256-flat-1mb": "9c704d08d6cac8f12d236485e15acd83f233406aec1c9403fc9fc7c6ee44d88f", + "sha256": "456b2da3ff3cb59dfce06f0a36be810922100ba14368e90f85e19b64f6a266d8" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 63558, + "size": 63646, "hash": { - "sha256-flat-1mb": "9682a2a5ede3c6cdeab6901c9d528689e3f8b34e4d14054782413a196c6c8e36", - "sha256": "afabd33445d198464278a0e11f39c4abf6a1d13608dae004b5d36aa3bb8e93e1" + "sha256-flat-1mb": "9b9856aa4cf60c2630f4bb96139e38f0f47021a9268430691d7e19c171d39a99", + "sha256": "b1b23c487a2e346aa534171857b15ff0d4b16530d75935ceb37e242d619d7211" } }, { @@ -189,19 +181,19 @@ }, { "relative_path": "runnables/physics/newton.usda", - "size": 6715, + "size": 7133, "hash": { - "sha256-flat-1mb": "c6e328a282f3a6d831bdd55dc4def4eb4ce7e0389d25f3ff28495f0162306ffb", - "sha256": "d52f89a6e098f5a884de062f182955a014cd1ead3b904b4c423d235bb26536ee" + "sha256-flat-1mb": "07b3e06693be181c1672aef8a2843a45d2cffa67d4987af1c00586b6b0806f95", + "sha256": "9b31ce0f9dbbfa706107204277aca245082d63dfdfbcbe0864df634a6baec3d3" } }, { "relative_path": "runnables/physics/physx.usda", - "size": 5152, + "size": 6818, "hash": { - "sha256-flat-1mb": "d03903f8cceef2ca6d3982cee2037db27f1b95bef1bbc96dbdf47e272b24986b", - "sha256": "de2d16694e8ceb2da3d74f057ecfb4f3127c6fff803586f22de5a03c3c2f20b8" + "sha256-flat-1mb": "6be3e46a73bfee540fbd249d0a10ad300606e5c773cba8857b0160bb7bb37f1e", + "sha256": "76e148d34eb94d2a6fd42e8963739242122a5ef611e533628d30ecc40eb569dd" } } ] -} +} \ No newline at end of file diff --git a/fanuc_m900ib330l/.simready/validation.json b/fanuc_m900ib330l/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..bc75ce3b43ab70760368c12c56235b79306f3b91 100644 --- a/fanuc_m900ib330l/.simready/validation.json +++ b/fanuc_m900ib330l/.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", + "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": 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a/fanuc_m900ib330l/.thumbs/m900ib330l.thumb.usd b/fanuc_m900ib330l/.thumbs/m900ib330l.thumb.usd deleted file mode 100644 index e8381aa7f453eecc4b0fb431bddd2bae46be582b..0000000000000000000000000000000000000000 Binary files a/fanuc_m900ib330l/.thumbs/m900ib330l.thumb.usd and /dev/null differ diff --git a/fanuc_m900ib330l/com.nvidia.simready.packaging.json b/fanuc_m900ib330l/com.nvidia.simready.packaging.json index b9983e0f5c69a02ecb0953f70b315f5fd697cff2..090e3ee990d6db371489c5cae71d4ecb2a868f00 100644 --- a/fanuc_m900ib330l/com.nvidia.simready.packaging.json +++ b/fanuc_m900ib330l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib330l.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib330l.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "869540faadfd1c6764fbd69a9cffd41ff81c4d48eefc6e28e6e99e5d5fae4720" + "sha256": "f1fc297026c84837f8affb11f9615ecbf439b189ee0196ab92477bd4f81003ba" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "f00a5284e51a71e6c378913bc955b4f7cbb64cf69ff6ab1003e72ce5ad86c116" + "sha256": "bb0372829a856dd07bcab280fbdfd1aa19da5758944eb6a6dbdfad81424899aa" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "776908077cf7ad1327ce9695d9aa30357d82435835e659489e73b4b307722b6f" + "sha256": "65cee3c9ad8449d517e89913c1deb2a6410ef7a5f4007186357436b0cd2339d2" }, "package_hash": { - "sha256": "642e1d020943047294ab4fc0ed2efb3440d3bc48843017188e3bf3224cb6509f" + "sha256": "cdce695b96bbdd0140e10919d894818ad8aae241fdb3f3af2744d6d3d63bd67f" } } diff --git a/fanuc_m900ib330l/m900ib330l.usda b/fanuc_m900ib330l/m900ib330l.usda index c09ce41f1ba2f3fbbb222a6793d608a035c50376..270a88292c5bd90f613c0437a7e513e2781ae066 100644 --- a/fanuc_m900ib330l/m900ib330l.usda +++ b/fanuc_m900ib330l/m900ib330l.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 = 1 + string provider = "simready.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/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 = 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/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 = 1 + string provider = "simready.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/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/fanuc_m900ib330l/payloads/materials.usda b/fanuc_m900ib330l/payloads/materials.usda index 60fcc799c018c0015f3a65df22ef5267322fd57d..e0c24000c4cbb5b9a6db34d23bb28e2e37ce4d2f 100644 --- a/fanuc_m900ib330l/payloads/materials.usda +++ b/fanuc_m900ib330l/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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/fanuc_m900ib330l/runnables/physics/newton.usda b/fanuc_m900ib330l/runnables/physics/newton.usda index 3d3e10020e7a9f71cfbc2c586e85d97ad45eb72a..3a648255d6b226a45de36a7b52c2c7f17038a10d 100644 --- a/fanuc_m900ib330l/runnables/physics/newton.usda +++ b/fanuc_m900ib330l/runnables/physics/newton.usda @@ -119,6 +119,9 @@ over "m900ib330l" over "P1_link" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + float physics:mass = 0.01 + over "collisions" { over "p1" @@ -135,6 +138,9 @@ over "m900ib330l" over "P2_link" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + float physics:mass = 0.01 + over "collisions" { over "p2" @@ -196,6 +202,8 @@ over "m900ib330l" float drive:angular:physics:stiffness = 2916.6667 float newton:damping = 97.22222 float newton:velocityLimit = 90 + float physics:lowerLimit = -150 + float physics:upperLimit = 150 } over "J5" ( @@ -216,6 +224,8 @@ over "m900ib330l" float drive:angular:physics:stiffness = 909.091 float newton:damping = 30.303034 float newton:velocityLimit = 164.99998 + float physics:lowerLimit = -150 + float physics:upperLimit = 150 } over "P1" ( @@ -246,6 +256,7 @@ over "m900ib330l" over "P2_01" { uniform bool physics:excludeFromArticulation = 1 + bool physics:jointEnabled = 0 } } } diff --git a/fanuc_m900ib330l/runnables/physics/physx.usda b/fanuc_m900ib330l/runnables/physics/physx.usda index b11c55c8041d345418fbe7ff017b2acab5188439..d51a8f2c0894d8a305a81a82f9ebc68294b77aaf 100644 --- a/fanuc_m900ib330l/runnables/physics/physx.usda +++ b/fanuc_m900ib330l/runnables/physics/physx.usda @@ -15,6 +15,8 @@ over "m900ib330l" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 99.99999 } @@ -22,6 +24,8 @@ over "m900ib330l" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 84.99999 } @@ -29,6 +33,8 @@ over "m900ib330l" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 84.99999 } @@ -36,6 +42,8 @@ over "m900ib330l" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 90 } @@ -43,6 +51,8 @@ over "m900ib330l" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 84.99999 } @@ -50,16 +60,22 @@ over "m900ib330l" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 10000 + float drive:angular:physics:stiffness = 250000 float physxJoint:maxJointVelocity = 164.99998 } over "P1" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotY", "PhysicsJointStateAPI:angular"] ) { - custom float physxMimicJoint:rotY:dampingRatio = 0.005 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + uniform bool physics:excludeFromArticulation = 0 + float physics:JointEquivalentInertia = 0.0001 + custom float physxMimicJoint:rotY:dampingRatio = 1 float physxMimicJoint:rotY:gearing = 1 - custom float physxMimicJoint:rotY:naturalFrequency = 25 + custom float physxMimicJoint:rotY:naturalFrequency = 500 float physxMimicJoint:rotY:offset = 0 rel physxMimicJoint:rotY:referenceJoint = } @@ -68,9 +84,12 @@ over "m900ib330l" prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotY", "PhysicsJointStateAPI:angular"] ) { - custom float physxMimicJoint:rotY:dampingRatio = 0.005 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physics:JointEquivalentInertia = 0.0001 + custom float physxMimicJoint:rotY:dampingRatio = 1 float physxMimicJoint:rotY:gearing = -1 - custom float physxMimicJoint:rotY:naturalFrequency = 25 + custom float physxMimicJoint:rotY:naturalFrequency = 500 float physxMimicJoint:rotY:offset = 0 rel physxMimicJoint:rotY:referenceJoint = } @@ -79,6 +98,10 @@ over "m900ib330l" prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + uniform bool physics:excludeFromArticulation = 1 + bool physics:jointEnabled = 0 } } @@ -198,6 +221,11 @@ over "m900ib330l" over "P1_link" { + point3f physics:centerOfMass = (-0.108, 0.127, -0.0139) + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + float physics:mass = 0.01 + quatf physics:principalAxes = (0.9996507, -0.0025535075, -0.00693736, 0.025373379) + over "collisions" { over "p1" @@ -213,6 +241,9 @@ over "m900ib330l" over "P2_link" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + float physics:mass = 0.01 + over "collisions" { over "p2" diff --git a/fanuc_m900ib360e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ib360e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index b1862001efdd15aaa7d1fa940c7acaf59ca10198..826e3b6b485c3bca2fbf9fc759e6878a1d980930 100644 --- a/fanuc_m900ib360e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ib360e/.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": "2026-10-26T18:18:33", + "timestamp": "2026-11-02T23:09:46", "assets": [ { "asset": "m900ib360e.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": "8e5dc29fa75a5cc2b768814829adce169ed9637745a56eec5519d079cce4c832" + "sha256": "081c9257c70feb47d3750bb6c5ac6bdfcc4c9d74e50f5086a2c7380143717a08" } } diff --git a/fanuc_m900ib360e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m900ib360e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..bf44ba8b660250e5fe867d549beef68efc345976 100644 --- a/fanuc_m900ib360e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m900ib360e/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:09:48", "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/fanuc_m900ib360e/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ib360e/.metadata/com.nvidia.simready.packaging.bom.json index 8f6e47fee422142e3ef51df5f10b8117fce09591..b46db84192b7b27fc7082c37a69b3c918b660bac 100644 --- a/fanuc_m900ib360e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ib360e/.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/fanuc_m900ib360e/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m900ib360e/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49546, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "b8b8ead6ead4e8115d8ec2d02551eb7102d9d5fa42e1614bacf82f5dc34183bd", + "sha256": "d2fa52d03d0869ccfa9bbae05c7399f3a71761c4ab053a362339aa262e0a25b2" } }, { @@ -18,20 +18,12 @@ "sha256": "3260ab6162d6987cd0695ae09261ee0d3b8ea1853d1ae7e0a8c7ffaf1582e2b1" } }, - { - "relative_path": ".thumbs/m900ib360e.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "4b893e267791a69d4a8b1b6c44e5724d74a6383c645f2612bb38b16c666134da", - "sha256": "d7e77be07cd732d2c296e0c82f7d05297f642d7731705206b662e08341cb11af" - } - }, { "relative_path": "m900ib360e.usda", - "size": 16497, + "size": 82212, "hash": { - "sha256-flat-1mb": "fdb29433acae3551e3c49334b1e8b4839f1c56a67b6ea8f0a0648809ce8a1efc", - "sha256": "cb79a54a4044b6a92e31ecbe964dcf5f66d04893c31602da7326f30e0f2d57c8" + "sha256-flat-1mb": "0d59e71ba86b9f36f6096a08c7c66f89257c2e8507f35304701f9a3b6b666a08", + "sha256": "046f8c9f3480bb9f4aa71af8517eaf26aa1edb8d0ff057b2dfa43998854691de" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 80331, + "size": 80443, "hash": { - "sha256-flat-1mb": "0d2f4194ae18d02f43a528632c433a60ff7b58d68b5f0645e66a983d717c028c", - "sha256": "84ac7a38d8ba71595ba7a4761d2c4370225dd6857213c1422fbac7cff8809fb7" + "sha256-flat-1mb": "f270c04927f347aeca354a8368479fad3476ba92fd29bc2072644008d7299917", + "sha256": "cab31744e93c53b0d8bc1ba8c7fb9e7de148b60ac8e83babe3596b77887e9fa8" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m900ib360e/.simready/validation.json b/fanuc_m900ib360e/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..88def8d6fdec0f1a0acc69da747a8f8feb091436 100644 --- a/fanuc_m900ib360e/.simready/validation.json +++ b/fanuc_m900ib360e/.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": 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+ ], + "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": 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+++ b/fanuc_m900ib360e/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib360e.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib360e.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "c669efac534f35be2106534038de751856bbc3b64e7ed9c39ba0abcfd0608710" + "sha256": "e391cca3a4009b321d8bac7ad2f28c94a1ea681f4f4b8efb85b1d829f63fa841" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "17047cea5a21cc6a4c1fb7b52dc6420d1f5efd9317f99fc3d4010549ffe0c661" + "sha256": "d1773d3314eeb8b47e300db73e2dea1f998de6bb4ffd2b990530b11222b3ee01" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "c80d4e9f72898e33c7e7d445cf7e5aba3d6e4b66e36b7187de6b7b7e438f205f" + "sha256": "081c9257c70feb47d3750bb6c5ac6bdfcc4c9d74e50f5086a2c7380143717a08" }, "package_hash": { - "sha256": "e387aa20998c0bdbc890a9bd986f141380439002ef2f71d50eb6d5df89e2bfca" + "sha256": "f1494017ffd9532f90c681d5bd9eb64f4deb60c6284cf5c27910a4d0baf842dd" } } diff --git a/fanuc_m900ib360e/m900ib360e.usda b/fanuc_m900ib360e/m900ib360e.usda index 18cbc6a55aed05e06bb2a2415605c867f8db4a71..c558ea209201aa400a63f247301cd616d345642e 100644 --- a/fanuc_m900ib360e/m900ib360e.usda +++ b/fanuc_m900ib360e/m900ib360e.usda @@ -21,11 +21,963 @@ } } } + 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 = 1 + string provider = "simready.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/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 execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "effort_limit_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/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 = 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/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 = 1 + string provider = "simready.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/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/fanuc_m900ib360e/payloads/materials.usda b/fanuc_m900ib360e/payloads/materials.usda index f078ac1189f5de0233b567b981ee5a40fb610b69..dead9a3328243085e1f11693280ff01844bf6ec4 100644 --- a/fanuc_m900ib360e/payloads/materials.usda +++ b/fanuc_m900ib360e/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -178,7 +178,7 @@ 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" ) @@ -319,7 +319,7 @@ 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) @@ -337,7 +337,7 @@ 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" ) @@ -478,7 +478,7 @@ 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) @@ -496,7 +496,7 @@ 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" ) @@ -637,7 +637,7 @@ 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) @@ -658,7 +658,7 @@ 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" ) @@ -799,7 +799,7 @@ 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) @@ -820,7 +820,7 @@ 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" ) @@ -961,7 +961,7 @@ 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) @@ -982,7 +982,7 @@ 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" ) @@ -1123,7 +1123,7 @@ 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) @@ -1144,7 +1144,7 @@ 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" ) @@ -1285,7 +1285,7 @@ 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) @@ -1306,7 +1306,7 @@ 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" ) @@ -1447,7 +1447,7 @@ 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) @@ -1468,7 +1468,7 @@ 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" ) @@ -1609,7 +1609,7 @@ 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) @@ -1630,7 +1630,7 @@ 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" ) @@ -1771,7 +1771,7 @@ 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) @@ -1792,7 +1792,7 @@ 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" ) @@ -1933,7 +1933,7 @@ 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) @@ -1954,7 +1954,7 @@ 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" ) @@ -2095,7 +2095,7 @@ 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) @@ -2116,7 +2116,7 @@ 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" ) @@ -2257,7 +2257,7 @@ 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/fanuc_m900ib400l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ib400l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 89ae0f44e91541c50da1bb7dc4ef24ff98ac13df..843cc6c8f23a5edab4b5c6649cb4419ea35d938f 100644 --- a/fanuc_m900ib400l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ib400l/.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": "2026-10-26T18:18:35", + "timestamp": "2026-11-02T23:09:49", "assets": [ { "asset": "m900ib400l.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": "89d2311b8fce4b358d68877a88e56820852a03d9291d13140ca4667919d68de2" + "sha256": "5fe87940c1e3adae587b185cfcf99e571cb7096269e0fe53d10fb2bf922b796d" } } diff --git a/fanuc_m900ib400l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m900ib400l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..ebadc384e547d7bf637fd99f15740d6c510621a0 100644 --- a/fanuc_m900ib400l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m900ib400l/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:09:51", "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/fanuc_m900ib400l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ib400l/.metadata/com.nvidia.simready.packaging.bom.json index f6f116891ab3060af3456bab5bbf8ad31256a133..58192ed9501704e0a7fbf71dde230950856131bb 100644 --- a/fanuc_m900ib400l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ib400l/.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/fanuc_m900ib400l/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m900ib400l/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49546, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "b8b8ead6ead4e8115d8ec2d02551eb7102d9d5fa42e1614bacf82f5dc34183bd", + "sha256": "d2fa52d03d0869ccfa9bbae05c7399f3a71761c4ab053a362339aa262e0a25b2" } }, { @@ -18,20 +18,12 @@ "sha256": "7ce470aec0ab4bfbf2f6d16d469c1060668088a89775487240831fc13a230050" } }, - { - "relative_path": ".thumbs/m900ib400l.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "cfbeb92c7c8e8fe4474d8c5b4e4a0ecc5476304ba90657953778ed5d94a5fdf4", - "sha256": "42844f7fa4ec586d821a49868668cd1794910d73c33dd23bae5d2ffa99db3d28" - } - }, { "relative_path": "m900ib400l.usda", - "size": 16499, + "size": 82214, "hash": { - "sha256-flat-1mb": "ad0a5cfe8bded74b939a4211fd3cc98f5e0f28feb9e929dafa99532773797a58", - "sha256": "8657a34acabfcf91f5b6c1d23c7b012cd1ad99669551f55aecb5729e7fa9e9d4" + "sha256-flat-1mb": "27fc84876d53e165d54fc8bee33fd6a0b4bab5ad7a74b79fdaf44740aff59f21", + "sha256": "365344076e0fbe6aa121c5e659cca39e61a381c61fb7f3058c4c6679f0863a54" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 67271, + "size": 67367, "hash": { - "sha256-flat-1mb": "ec38c28baee05b182a4e6f36f29e1c4d69926b4ac3766d55ba77d4d5e447870b", - "sha256": "f2d8664d16ff3bfdb96c0f1c33a556bdf09ca8a4611c5fa11a089618e7ca9554" + "sha256-flat-1mb": "ea71a5e55ed0bfa7f1bf3687b104778a4b15245b2db0dc3ae632fa1436abb31d", + "sha256": "d6b3989d2fde1b6b61f8ec9f01e2ace65edca04e2eb7673d857d8af3811928c2" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m900ib400l/.simready/validation.json b/fanuc_m900ib400l/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..88def8d6fdec0f1a0acc69da747a8f8feb091436 100644 --- a/fanuc_m900ib400l/.simready/validation.json +++ b/fanuc_m900ib400l/.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", + 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+ "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" 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"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": 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"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": true, + "status": "pass", + "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/fanuc_m900ib400l/.thumbs/m900ib400l.thumb.usd b/fanuc_m900ib400l/.thumbs/m900ib400l.thumb.usd deleted file mode 100644 index 1cd52676e3e22e593620832249a6a0db60c82234..0000000000000000000000000000000000000000 Binary files a/fanuc_m900ib400l/.thumbs/m900ib400l.thumb.usd and /dev/null differ diff --git a/fanuc_m900ib400l/com.nvidia.simready.packaging.json b/fanuc_m900ib400l/com.nvidia.simready.packaging.json index 021acf7b2f17f77cb9815f80f151c774ad2fc9c3..78b2b1bdcf4ed07a28a4ca6996613d1649863c3c 100644 --- a/fanuc_m900ib400l/com.nvidia.simready.packaging.json +++ b/fanuc_m900ib400l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib400l.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib400l.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "e4532be1a4231a2fdeaaaea057e7671763a19b6a3bb0cf15655619e686505564" + "sha256": "81674aebad7297a0859cd5e64c467726373b60896a54718df40c0b1a8fd0fb14" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "1481ad8c0379b47d060f988313994f4e12d21d875645217e2020386e0fc9fdea" + "sha256": "88d0f9850a5a0212241d5af160813d256f970bdd696aab4c3e1e7162b7eb5f1c" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "ed81991331f239829b55514db87e3cd183f75a33eac4eb96d612c81a2d7cd5ba" + "sha256": "5fe87940c1e3adae587b185cfcf99e571cb7096269e0fe53d10fb2bf922b796d" }, "package_hash": { - "sha256": "a0e9fb31e888087161c829f79090dd7a1eeb931fb31188eb6a2701cb7af1293e" + "sha256": "b2ecae9d1e5cd7ab2f759722e943d56893dde18e7fd0b5e21c6256adb378d6d8" } } diff --git a/fanuc_m900ib400l/m900ib400l.usda b/fanuc_m900ib400l/m900ib400l.usda index 70368b0f5ae00eb1f7d3e1a9f52cb6ff8fdb3601..cb73462df1415e8c1382f8c8016aa51c235ac935 100644 --- a/fanuc_m900ib400l/m900ib400l.usda +++ b/fanuc_m900ib400l/m900ib400l.usda @@ -21,11 +21,963 @@ } } } + 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 = 1 + string provider = "simready.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/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 execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "effort_limit_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/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 = 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/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 = 1 + string provider = "simready.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/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/fanuc_m900ib400l/payloads/materials.usda b/fanuc_m900ib400l/payloads/materials.usda index 55cb7e28caa4ec92187dbd3350088c85870f175b..72cf401efe742d1221021ee0a1105df949af78e8 100644 --- a/fanuc_m900ib400l/payloads/materials.usda +++ b/fanuc_m900ib400l/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -973,7 +973,7 @@ 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" ) @@ -1114,7 +1114,7 @@ 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) @@ -1135,7 +1135,7 @@ 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" ) @@ -1276,7 +1276,7 @@ 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) @@ -1294,7 +1294,7 @@ 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" ) @@ -1435,7 +1435,7 @@ 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) @@ -1453,7 +1453,7 @@ 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" ) @@ -1594,7 +1594,7 @@ 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) @@ -1612,7 +1612,7 @@ 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" ) @@ -1753,7 +1753,7 @@ 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) @@ -1771,7 +1771,7 @@ 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" ) @@ -1912,7 +1912,7 @@ 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/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index f46400b5bc25cc017ca4cc271a31a26b73be32bb..27833d8ceb1430083bc4975d22e1491f702db46c 100644 --- a/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:18:37", + "timestamp": "2026-11-02T23:09:52", "assets": [ { "asset": "m900ib700.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": "9a352225b3cc6473d79bb19628b090b60f87aa4556fcaf4c36cd574bf281f7ab" + "sha256": "f77d342d341b5c7f951f121dd5a8e9a83438bdba01b01c15ecb94528de7df08a" } } diff --git a/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..be45220ab132ffdab07466b3e6c7eee95f637817 100644 --- a/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m900ib700/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:09:53", "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/fanuc_m900ib700/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ib700/.metadata/com.nvidia.simready.packaging.bom.json index 6090545d714a51c2d488e02e984e655aff7c2c26..62895c8d63c8eb1c4e3b1199e1546cff9e8b2f17 100644 --- a/fanuc_m900ib700/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ib700/.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/fanuc_m900ib700/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m900ib700/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49546, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "b8b8ead6ead4e8115d8ec2d02551eb7102d9d5fa42e1614bacf82f5dc34183bd", + "sha256": "d2fa52d03d0869ccfa9bbae05c7399f3a71761c4ab053a362339aa262e0a25b2" } }, { @@ -18,20 +18,12 @@ "sha256": "05048779ec66590c6527f1b4260ae7e5009bb4a4fa7c9344c53b58297984e061" } }, - { - "relative_path": ".thumbs/m900ib700.thumb.usd", - "size": 6126, - "hash": { - "sha256-flat-1mb": "a858ef79528bc358476171dfd57cc716159b3c9d95ffff1f3175456796c3b002", - "sha256": "96849e935d638c2acd3fb098fba53411fed689b5301d7042c207e60d21a914fd" - } - }, { "relative_path": "m900ib700.usda", - "size": 16489, + "size": 82204, "hash": { - "sha256-flat-1mb": "2b8e54b0feb75d43db5ea53f0538922c6788c09e98d93c23ae505b6e4a853571", - "sha256": "eaf67d37df48af134a64493f1332ec62cd7730b27a148281b75dc68e73306391" + "sha256-flat-1mb": "80b770e7f220ddd897bd1bff4aa06e18a09d5ba257335cee04b174ecb12d932b", + "sha256": "93b7fd29c30b18cb8d777eaf39d579e9a1d543ee3ec4bc5813e9808db41dbfe7" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 33482, + "size": 33530, "hash": { - "sha256-flat-1mb": "0998d63a51bcd988e4452f7af01d3e7d88a06542277f19e313900784e05de8f4", - "sha256": "28c1e7d4e68fe5862634269a41cfc03035a8886f51955876608288fb49bbbf1f" + "sha256-flat-1mb": "3b31f893e2e2735e8ba6a04ebe0af8e1dbd9ff5fab28f4d31c59cbdf3d241ffe", + "sha256": "cd01807934bedfdae99e803a4aae08ece02655d36db7fff9e9c6787ffd3dc98e" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m900ib700/.simready/validation.json b/fanuc_m900ib700/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..88def8d6fdec0f1a0acc69da747a8f8feb091436 100644 --- a/fanuc_m900ib700/.simready/validation.json +++ b/fanuc_m900ib700/.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": 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+ "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": false, + "status": "incomplete", + "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", + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + "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": true, + "status": "pass", + "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": true, + "status": "pass", + "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/fanuc_m900ib700/.thumbs/m900ib700.thumb.usd b/fanuc_m900ib700/.thumbs/m900ib700.thumb.usd deleted file mode 100644 index 43419a4a06b93577c412d051faa9d6c4223e4ed4..0000000000000000000000000000000000000000 Binary files a/fanuc_m900ib700/.thumbs/m900ib700.thumb.usd and /dev/null differ diff --git a/fanuc_m900ib700/com.nvidia.simready.packaging.json b/fanuc_m900ib700/com.nvidia.simready.packaging.json index a80b98e2b0501f4cc1446e5c846b51de6e984858..35a39fcebe1bb4e374ec4b438d9a0ec7bb50a061 100644 --- a/fanuc_m900ib700/com.nvidia.simready.packaging.json +++ b/fanuc_m900ib700/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib700.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib700.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "66d1f2254173887803aac65299012cc3daf6e2b82d9f3a60293a4e28ac1d0a58" + "sha256": "9e1dbabb33a282b7a13713a6b94672c723c397024069e84ef2b6ab77e52674b0" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "b349f1caab0d3bb8eb6d2e84dc609b1747a8fbf18743176c06826c513cb2407f" + "sha256": "ed67a5f34bdc7a2dd2529864d87ced03af1532ed44b457f32cf50c0ff1868b0b" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "e13e6ece48e8a41a95546a19e2722960207a51b40ed2fe1d4c06e137cfc80180" + "sha256": "f77d342d341b5c7f951f121dd5a8e9a83438bdba01b01c15ecb94528de7df08a" }, "package_hash": { - "sha256": "7fc0726dec912eae29878775b753b19677716e5b4da4690a12f2791f69dc3655" + "sha256": "7696c2eeef0a8313fbf2b8452d89bd2a80023f8771d2ba37ff9e01a2fb82ed2b" } } diff --git a/fanuc_m900ib700/m900ib700.usda b/fanuc_m900ib700/m900ib700.usda index ef792de24d3381389a6a5edb8e32ba6222f6fac2..612afe1269fd2c1debdfe61e25e17d602b873f40 100644 --- a/fanuc_m900ib700/m900ib700.usda +++ b/fanuc_m900ib700/m900ib700.usda @@ -21,11 +21,963 @@ } } } + 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 = 1 + string provider = "simready.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/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 execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "effort_limit_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/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 = 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/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 = 1 + string provider = "simready.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/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/fanuc_m900ib700/payloads/materials.usda b/fanuc_m900ib700/payloads/materials.usda index c1d08240c52b8ce9ca672c2f07f0ee7d35f337e0..712d729098bb7e58a1a782ac9a40be1b8383f864 100644 --- a/fanuc_m900ib700/payloads/materials.usda +++ b/fanuc_m900ib700/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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/fanuc_m900ib700e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ib700e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 3d53a50d52912c3e3b3023b2b6ec3dc4d29c974e..8632276d1878efb9f5ad94cc49d421d3d0d0d9e2 100644 --- a/fanuc_m900ib700e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ib700e/.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": "2026-10-26T18:18:40", + "timestamp": "2026-11-02T23:09:54", "assets": [ { "asset": "m900ib700e.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": "3da854f163214cf727140142ba1e5511926f6f921a2a185cb632b1989f810ad1" + "sha256": "99323460f72c43875a6dab5dea88b508e61b6e3f3f5be3dce9afa68f9ec9af26" } } diff --git a/fanuc_m900ib700e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m900ib700e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..bc79532174979f32bb164981e566802151682af9 100644 --- a/fanuc_m900ib700e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m900ib700e/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:09:56", "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/fanuc_m900ib700e/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ib700e/.metadata/com.nvidia.simready.packaging.bom.json index 419d6b30e485ac4f039842b0ebd44d6151fe3b9c..6dc5c9321151783a7aa6a4b852389e189bd750da 100644 --- a/fanuc_m900ib700e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ib700e/.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/fanuc_m900ib700e/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m900ib700e/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49546, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "b8b8ead6ead4e8115d8ec2d02551eb7102d9d5fa42e1614bacf82f5dc34183bd", + "sha256": "d2fa52d03d0869ccfa9bbae05c7399f3a71761c4ab053a362339aa262e0a25b2" } }, { @@ -18,20 +18,12 @@ "sha256": "82242f8562391f4819cd326447fe2be5f34094117d6a29da6a041fa0f194890e" } }, - { - "relative_path": ".thumbs/m900ib700e.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "a19824be67ca4f209d9c0244ececc8bf2e74396e6c20f6cdd603bd6e45ebf937", - "sha256": "b3bc346a3bd333bafd77c1c7ea497a9bc785883de05d42da3d6fa4c552629e99" - } - }, { "relative_path": "m900ib700e.usda", - "size": 16498, + "size": 82213, "hash": { - "sha256-flat-1mb": "e45415f49964fac974ecb7d2208b12c075a5334ef502f2b0c404cb223f1e5db1", - "sha256": "3374b3f4259593784a678cea7fbda22f9ab310bc3f41e260ac0b74afe3a13210" + "sha256-flat-1mb": "927bb779694b8e5cf891361081fe0190b0292481e9b10f54ecc78932769823bb", + "sha256": "e14fff0b141f015e3b94f1b3bb84c7f7204d9a75798e7ed1097ebfd7e542914a" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 72769, + "size": 72873, "hash": { - "sha256-flat-1mb": "18000f8ae855c56664eb0666d8907c1f5171c12bc5564c93877a9613bfd283ed", - "sha256": "7354b510d217593c93775ed3e29cc1b48980d421f02880fc3e05b720255c7e70" + "sha256-flat-1mb": "a24a88dd7303eecda11cbc2369af604c97bb6aeeb1206c02c7b4e2a35ade24f6", + "sha256": "5644049be405b477017ce77fbb4785e4013415d6b2f7db02225c18dc658949ca" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m900ib700e/.simready/validation.json b/fanuc_m900ib700e/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..88def8d6fdec0f1a0acc69da747a8f8feb091436 100644 --- a/fanuc_m900ib700e/.simready/validation.json +++ b/fanuc_m900ib700e/.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", + 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"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/fanuc_m900ib700e/.thumbs/m900ib700e.thumb.usd b/fanuc_m900ib700e/.thumbs/m900ib700e.thumb.usd deleted file mode 100644 index e6ad63fdfcd22ac21dc1658053d17f826d5fc8ad..0000000000000000000000000000000000000000 Binary files a/fanuc_m900ib700e/.thumbs/m900ib700e.thumb.usd and /dev/null differ diff --git a/fanuc_m900ib700e/com.nvidia.simready.packaging.json b/fanuc_m900ib700e/com.nvidia.simready.packaging.json index e393df486170d4c93ee0574a8df9287bb220e91c..65d4105aa50ffafca89224e39c54693c3e0adafa 100644 --- a/fanuc_m900ib700e/com.nvidia.simready.packaging.json +++ b/fanuc_m900ib700e/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib700e.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib700e.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "668531b22ffcd7388861d8f3dba183ee3ac5a43ecd51b13f7314a11ce27daabc" + "sha256": "fc3be507ce5d877c18700363f72091e9ca056e3d13f4537749bd9796a4af3cc6" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "8f5f901a60748e619d71fc88b2929af32a90052dded195482d2e1f3d66888730" + "sha256": "e3c3fa4c02bdcf99216b4d4c77c66f37e5a31d581c70bf323e91888757393304" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "c1fc4a44f577c0d4644362e5d062bd2a2f1eac455e431743f5fdecbe3b2bea6d" + "sha256": "99323460f72c43875a6dab5dea88b508e61b6e3f3f5be3dce9afa68f9ec9af26" }, "package_hash": { - "sha256": "31e14f076b0d988c3fecbd09a82d955c59cfe2786255bf47790afd208733fde2" + "sha256": "20029c8547c7fc3a028b7c88955888420782e226750618860f4b7d03c64a3213" } } diff --git a/fanuc_m900ib700e/m900ib700e.usda b/fanuc_m900ib700e/m900ib700e.usda index 4ac8fc661c7152dab3194b3906e0fd26d39bb8f1..3f7ddacf8c91f8d27f75360c2fe9bc0a864eb189 100644 --- a/fanuc_m900ib700e/m900ib700e.usda +++ b/fanuc_m900ib700e/m900ib700e.usda @@ -21,11 +21,963 @@ } } } + 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 = 1 + string provider = "simready.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/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 execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "effort_limit_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/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 = 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/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 = 1 + string provider = "simready.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/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/fanuc_m900ib700e/payloads/materials.usda b/fanuc_m900ib700e/payloads/materials.usda index 1848b76b3922df1f38bfa755014253742dba1faf..02d1033388321096bcfe1b974a61baa30eab2b51 100644 --- a/fanuc_m900ib700e/payloads/materials.usda +++ b/fanuc_m900ib700e/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -496,7 +496,7 @@ 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" ) @@ -637,7 +637,7 @@ 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) @@ -655,7 +655,7 @@ 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" ) @@ -796,7 +796,7 @@ 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) @@ -814,7 +814,7 @@ 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" ) @@ -955,7 +955,7 @@ 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) @@ -973,7 +973,7 @@ 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" ) @@ -1114,7 +1114,7 @@ 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) @@ -1132,7 +1132,7 @@ 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" ) @@ -1273,7 +1273,7 @@ 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) @@ -1291,7 +1291,7 @@ 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" ) @@ -1432,7 +1432,7 @@ 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) @@ -1450,7 +1450,7 @@ 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" ) @@ -1591,7 +1591,7 @@ 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) @@ -1609,7 +1609,7 @@ 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" ) @@ -1750,7 +1750,7 @@ 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) @@ -1768,7 +1768,7 @@ 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" ) @@ -1909,7 +1909,7 @@ 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) @@ -1927,7 +1927,7 @@ 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" ) @@ -2068,7 +2068,7 @@ 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/fanuc_m950_500f28a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m950_500f28a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 29b2073dd8307394129e123b1c5bbda1793c5972..f1680d3a2f1accc20441b24da9521582ec0e9b72 100644 --- a/fanuc_m950_500f28a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m950_500f28a/.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": "2026-10-26T18:18:42", + "timestamp": "2026-11-02T23:09:57", "assets": [ { "asset": "m950_500f28a.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": "215326309a5aff1a4cda9b064ce40a60a09a3407b8b0858567b00d41c26e72e2" + "sha256": "7b0fdeef261baf78181235cdad1f4e10a883a38fbefa7cc5316a9987f1bd538c" } } diff --git a/fanuc_m950_500f28a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m950_500f28a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..8a02c6ad95a142559924f459b79ae1af17d17068 100644 --- a/fanuc_m950_500f28a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m950_500f28a/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:09:59", "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/fanuc_m950_500f28a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m950_500f28a/.metadata/com.nvidia.simready.packaging.bom.json index 94171d576ace7b6f43daa0318a9072a1e8d7d4b1..d562e7bb2cd95e922cf7c2083e538cd381d13dd9 100644 --- a/fanuc_m950_500f28a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m950_500f28a/.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/fanuc_m950_500f28a/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m950_500f28a/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" } }, { @@ -18,20 +18,12 @@ "sha256": "582bf2b1c07a78168f412a6ee36160ea0fc486674546f64637cbc920d1a8c987" } }, - { - "relative_path": ".thumbs/m950_500f28a.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": "8a361fdd8cd5e7d848012c8390bc5afe7cef919721551567ad3d89ceb676f577", - "sha256": "1949641ce6c0deb2587d47ab8d8e9702b71750afacd7c52a83b564d976f8618e" - } - }, { "relative_path": "m950_500f28a.usda", - "size": 16022, + "size": 81568, "hash": { - "sha256-flat-1mb": "7359e800a77ca4be6319685b6979eddd1f672d2dc931191f784bcd5c3d0abd0e", - "sha256": "107c5f2d6277692c69abe4c9db7baf2e63e0b501c03ebd4f96d63e917e3ba2cb" + "sha256-flat-1mb": "c60c3e72e538e9b79f5c6cacc75c32ce3d7535061eb870c56fddc37a02893d84", + "sha256": "0c0104c5976c8bbcbc0d50f9166d64919548eaf760fc84140d74a1a04d46e29c" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 56639, + "size": 56719, "hash": { - "sha256-flat-1mb": "301205592c2b01233f2ac964de22c976a62d1b83c3740afdcb525231d3b37524", - "sha256": "85b0aa57407408fdaa8e69b1052299a6f7150ca32cf7ac0aab6d6479e759cc8c" + "sha256-flat-1mb": "862feff252811c750a253f7c47fe5e705b449fcc369c2a3ed7bc03c7a6881736", + "sha256": "659e66d3836826319ed5b71b31c53facd0f0d4a7ceeec590b3ad691dcafffab5" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m950_500f28a/.simready/validation.json b/fanuc_m950_500f28a/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_m950_500f28a/.simready/validation.json +++ b/fanuc_m950_500f28a/.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", + "version": "2.0.3" + }, + "normals_xz": { + "passed": true, + "status": "pass", + "name": "normals_xz", + "test_file": 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a/fanuc_m950_500f28a/com.nvidia.simready.packaging.json b/fanuc_m950_500f28a/com.nvidia.simready.packaging.json index ff08563978dd52a132ed690ab6c184e77c66e15a..17b90414b3e656e71071f7d5ff1154f4df4c5783 100644 --- a/fanuc_m950_500f28a/com.nvidia.simready.packaging.json +++ b/fanuc_m950_500f28a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m950_500f28a.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m950_500f28a.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "d2dde7d638f71811b258bf9814cb08410b03a614f33216446d99365d59a1c3d2" + "sha256": "82d0b7ffbdb56deb07fcbdad445de44e98413c0ffcc883313616e81819950cbf" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "dc0d7ed36af07816a209f63be82ea6afc0f69013be28d977b63d6786e391b6be" + "sha256": "efcaf6a12cf3fbbbdd9d208dcb545bcaa1513e4ed36d2f7b6bb55fc9ba9395a5" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "b8e448c9aea6097e46352ce32a5e53660682bca90b5000f72567c34e72259a8a" + "sha256": "7b0fdeef261baf78181235cdad1f4e10a883a38fbefa7cc5316a9987f1bd538c" }, "package_hash": { - "sha256": "f44bed22baa9a4a23b99a3e817fbe45a6d8c6cd6f77c257d6382c166faf37287" + "sha256": "fb7998af3a1def44e94c6252db12c12b4fa404c5b386b346cfd98308d219203b" } } diff --git a/fanuc_m950_500f28a/m950_500f28a.usda b/fanuc_m950_500f28a/m950_500f28a.usda index 95accaf814171fa6a4673a7fd2555e5c54a7bff4..03371721c8beb9037841837effd9826c8671f043 100644 --- a/fanuc_m950_500f28a/m950_500f28a.usda +++ b/fanuc_m950_500f28a/m950_500f28a.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/fanuc_m950_500f28a/payloads/materials.usda b/fanuc_m950_500f28a/payloads/materials.usda index dee24d5d7c6ba372d94ca0318cc3e3ecd096e7eb..f0d80245ff4ad2d734524d5a3d86d2baa1cf52bd 100644 --- a/fanuc_m950_500f28a/payloads/materials.usda +++ b/fanuc_m950_500f28a/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -496,7 +496,7 @@ 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" ) @@ -637,7 +637,7 @@ 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) @@ -655,7 +655,7 @@ 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" ) @@ -796,7 +796,7 @@ 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) @@ -814,7 +814,7 @@ 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" ) @@ -955,7 +955,7 @@ 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) @@ -976,7 +976,7 @@ 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" ) @@ -1117,7 +1117,7 @@ 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) @@ -1138,7 +1138,7 @@ 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" ) @@ -1279,7 +1279,7 @@ 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) @@ -1300,7 +1300,7 @@ 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" ) @@ -1441,7 +1441,7 @@ 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) @@ -1459,7 +1459,7 @@ 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" ) @@ -1600,7 +1600,7 @@ 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/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index aef398694be3558880c3245bf9854a19137165f2..a6f7bed26836d76bc45ec57b22ebad470554bdd3 100644 --- a/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m_1000_1000f_33a/.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": "2026-10-26T18:17:29", + "timestamp": "2026-11-02T23:08:25", "assets": [ { "asset": "m-1000_1000f-33a.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": "6e525bd9a4f746bec7de67359706b3401999000ad01c3c8377d72d8d38f6d2a4" + "sha256": "ffa91ecd7c55b62a427659f3895663858448dfc4a04f71daf8188eb377732238" } } diff --git a/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..233f484e7ed55e618cbc54148d42daf7e43df9ac 100644 --- a/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m_1000_1000f_33a/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:27", "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/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.packaging.bom.json index f52b637793319a973f3f2e0a642af68179476ba0..544498e8618fe61dff0bec9c36c680b19e416810 100644 --- a/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m_1000_1000f_33a/.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/fanuc_m_1000_1000f_33a/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m_1000_1000f_33a/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" } }, { @@ -18,20 +18,12 @@ "sha256": "0f9bf040b5e97f6e8c7e3187ffc775a15c6f7f8dab89da05f8aed7ef3d5fa3a4" } }, - { - "relative_path": ".thumbs/m-1000_1000f-33a.thumb.usd", - "size": 6132, - "hash": { - 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"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/fanuc_m_1000_1000f_33a/.thumbs/m-1000_1000f-33a.thumb.usd b/fanuc_m_1000_1000f_33a/.thumbs/m-1000_1000f-33a.thumb.usd deleted file mode 100644 index 6b35bc81b1a4581b5709fe746d22e60c3ede1a7f..0000000000000000000000000000000000000000 Binary files a/fanuc_m_1000_1000f_33a/.thumbs/m-1000_1000f-33a.thumb.usd and /dev/null differ diff --git a/fanuc_m_1000_1000f_33a/com.nvidia.simready.packaging.json b/fanuc_m_1000_1000f_33a/com.nvidia.simready.packaging.json index 23735a5511db9c6b1e00842e7acadb6762b57e7e..73006282ff7143ea99531299fdf2d14771e8174c 100644 --- a/fanuc_m_1000_1000f_33a/com.nvidia.simready.packaging.json +++ b/fanuc_m_1000_1000f_33a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_1000_1000f_33a.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_1000_1000f_33a.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "4488b308ff93c64a96d648da545b5c91310063e2e066a36d2030b6f6c59e8f3c" + "sha256": "1d43ec9e918b2cd6f1947766f05314badcaaacd982675419a55d7c7d7bac35f6" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "819511f6d6aa5747c060b5267007489c599b2c39a697e2a38f1ae0ebc94a4274" + "sha256": "9cf0302d010d364f186c7baa72abfebefc9749f9e9b07e9166828a43cec2da4b" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "b1c26cd6f0827708381dcda5486c69496f10ce8584cce39d29f8438b652c221a" + "sha256": "ffa91ecd7c55b62a427659f3895663858448dfc4a04f71daf8188eb377732238" }, "package_hash": { - "sha256": "c73acda220885d4970028c1965f268af2af057e548ca6e565073bd3e836d7aa1" + "sha256": "a40f4367a38b5d9854f5bf4d68a8a0fbce0b4c0539164dea85d8dd14d64fd772" } } diff --git a/fanuc_m_1000_1000f_33a/m-1000_1000f-33a.usda b/fanuc_m_1000_1000f_33a/m-1000_1000f-33a.usda index 70f8a5917a898c86424b05f6a4254fbd82f454a0..a7bd8655490cee26fba9f2f651f6c8eb4f15a65c 100644 --- a/fanuc_m_1000_1000f_33a/m-1000_1000f-33a.usda +++ b/fanuc_m_1000_1000f_33a/m-1000_1000f-33a.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/fanuc_m_1000_1000f_33a/payloads/materials.usda b/fanuc_m_1000_1000f_33a/payloads/materials.usda index e105e28bd3ea295e84e927aba914fc5da77e30a4..033706d3679b7038d61ca6c37f5d8c805f790211 100644 --- a/fanuc_m_1000_1000f_33a/payloads/materials.usda +++ b/fanuc_m_1000_1000f_33a/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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) @@ -1447,7 +1447,7 @@ 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" ) @@ -1588,7 +1588,7 @@ 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) @@ -1606,7 +1606,7 @@ 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" ) @@ -1747,7 +1747,7 @@ 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/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 8053d878da9ef8ffbe35108836e82059d034ef31..e0d78179731ccb398674067302473c0b479588aa 100644 --- a/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m_1000_550f_46a/.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": "2026-10-26T18:17:31", + "timestamp": "2026-11-02T23:08:28", "assets": [ { "asset": "m-1000_550f-46a.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": "f69920830a15017b67c05ce051d0621e7cc7c84a49575158e23ba70fb56f2f54" + "sha256": "debfeb690031f859c577585bab30de01ed1f57e5bb1d58a976416b9ecded5c34" } } diff --git a/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..1fca292afd61f1b20ed31941e8138759dba8b44a 100644 --- a/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m_1000_550f_46a/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:29", "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/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.packaging.bom.json index 7df5e914aa8e8be2fba71890cdefe918726784b9..30781db1728edd4f0cc02e1e59d8f689ce450d32 100644 --- a/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m_1000_550f_46a/.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/fanuc_m_1000_550f_46a/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m_1000_550f_46a/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" } }, { @@ -18,20 +18,12 @@ "sha256": "a20849f651f80294e7d8c97eb3ca7db9c5bf7e3aebb2ba82b7ba8b2ed6da7220" } }, - { - "relative_path": ".thumbs/m-1000_550f-46a.thumb.usd", - "size": 6132, - "hash": { - "sha256-flat-1mb": "66df9e7e03801b16cbd8faedb378eedb0bc9319d3ff866c3c2beba0751155a91", - "sha256": "f70730e292b1e638e295041d15e25d95f4eaf64b8ad7b9a3b9175c4f6b5fc4a5" - } - }, { "relative_path": "m-1000_550f-46a.usda", - "size": 16042, + "size": 81588, "hash": { - "sha256-flat-1mb": "5a21d124cf5bad54c2f78606000e110dfefe60a6e2f183e43b552470041ed9e0", - "sha256": "679959293199f4162b35ac64c3b22b5b232aad44b6a36637834d3772fc2269bf" + "sha256-flat-1mb": "6754a4203e533be14f1bb16c38af8f5f1f5b7b0fca51d6f64c1e44e48c422e83", + "sha256": "7818f07e4bcd356aa3eb1545b13cfe24255ff9665a148d2c61f9501acc25e56f" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 61429, + "size": 61517, "hash": { - "sha256-flat-1mb": "02dae45de3e7b4e42d9fd577b4860210763a1a1a574079b1b3f130e3bc274793", - "sha256": "943059630d000ffb1484566ca828d670c4f339fddb446296af8f1a03df337984" + "sha256-flat-1mb": "9eaed8fd233fe9bc3becb801605856655bc59879eb72fde621d27b7272a204c2", + "sha256": "abfea304c53c1e15b2f388457c4048fd20e84c6ec4f14660abd4334e91ce15c6" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m_1000_550f_46a/.simready/validation.json b/fanuc_m_1000_550f_46a/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_m_1000_550f_46a/.simready/validation.json +++ b/fanuc_m_1000_550f_46a/.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", + "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": 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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/fanuc_m_1000_550f_46a/.thumbs/m-1000_550f-46a.thumb.usd b/fanuc_m_1000_550f_46a/.thumbs/m-1000_550f-46a.thumb.usd deleted file mode 100644 index 6728dc332083ad6a7c931f0ca9c94f645d4be7cf..0000000000000000000000000000000000000000 Binary files a/fanuc_m_1000_550f_46a/.thumbs/m-1000_550f-46a.thumb.usd and /dev/null differ diff --git a/fanuc_m_1000_550f_46a/com.nvidia.simready.packaging.json b/fanuc_m_1000_550f_46a/com.nvidia.simready.packaging.json index 3f295fd023a7f7ec59d45934ad20b7edde29f05d..f39449b4f2fdf5675933f63b48129fb259840b68 100644 --- a/fanuc_m_1000_550f_46a/com.nvidia.simready.packaging.json +++ b/fanuc_m_1000_550f_46a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_1000_550f_46a.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_1000_550f_46a.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "9950e353a5739c94a56dabffbd554e37ef32534e4723ed522fba54ea9aa0b378" + "sha256": "ae9508d73620751df9ed1c70715bd89967414223461053b00cbc4a6481f12fb9" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "98975f7c4b375034f6fa773f9efe614a4a93db2fe676b2d368c860f4ea491a7b" + "sha256": "0ca169d3bf95fba2a097a93b5cad198405ea8d84aba3bef5e34ab30d7cfbbe27" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "f5d947ec7fbccbe24671a4f5daf0e28ebc846afaf41f0c35e86b367a21dd4645" + "sha256": "debfeb690031f859c577585bab30de01ed1f57e5bb1d58a976416b9ecded5c34" }, "package_hash": { - "sha256": "26fb739bde1b4fb951d4761041a7e11a3cc6e4d1cea464e4ff763c9522b47ad6" + "sha256": "9d1bcf75b88be6a3df27b59e271475bd089dd5a472c083286f36e06bda2feb05" } } diff --git a/fanuc_m_1000_550f_46a/m-1000_550f-46a.usda b/fanuc_m_1000_550f_46a/m-1000_550f-46a.usda index bd09706e356632da3c3bfbe37fb8dc5f321b70e9..4a8049613cef43603c7781725381a2dd43976c10 100644 --- a/fanuc_m_1000_550f_46a/m-1000_550f-46a.usda +++ b/fanuc_m_1000_550f_46a/m-1000_550f-46a.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/fanuc_m_1000_550f_46a/payloads/materials.usda b/fanuc_m_1000_550f_46a/payloads/materials.usda index 445955b449950b7ac9a551240d804075ab75ce41..fd6b0a48ff453248f9eb1a6a87bc49431c11a720 100644 --- a/fanuc_m_1000_550f_46a/payloads/materials.usda +++ b/fanuc_m_1000_550f_46a/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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) @@ -1447,7 +1447,7 @@ 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" ) @@ -1588,7 +1588,7 @@ 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) @@ -1606,7 +1606,7 @@ 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" ) @@ -1747,7 +1747,7 @@ 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/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 1706098b493c190d302c8b6307b6fb1977cfcb3a..4b56e77727635b83609f457cfebd247270ed4e7a 100644 --- a/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m_2000_1200f_37a/.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": "2026-10-26T18:17:33", + "timestamp": "2026-11-02T23:08:30", "assets": [ { "asset": "m-2000_1200f-37a.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": "d2a8ce6e29c52714a7854c1240e3678bec3c5b60ffd24f1edb4b37a335bc680b" + "sha256": "ad2a2859fc35518c4d81b8a4bc664d1e2cc2478ed684a377b706b1928188d0af" } } diff --git a/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..494651790c7790245263b6d06612546ebbee191e 100644 --- a/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m_2000_1200f_37a/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:32", "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/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.packaging.bom.json index 8c2f3cdb7cbd96c469c5f94bb35f17b392390a58..4877dd4876ac34d7d3d9958c4bbf35397a204944 100644 --- a/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m_2000_1200f_37a/.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/fanuc_m_2000_1200f_37a/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m_2000_1200f_37a/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49554, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "062a356b05f33407c60f3c16a5300d9ac74e5c27cb93799570110f3151b42f05", + "sha256": "4545e216c136bb9992e2bb147bc4ce3cf6be0c253e398448bb2d33035af8eca6" } }, { @@ -18,20 +18,12 @@ "sha256": "f1e47ac0849e833e8ea9244e086f3e963ca7acee78939d67d1d94c3c554fdcf7" } }, - { - "relative_path": ".thumbs/m-2000_1200f-37a.thumb.usd", - "size": 6133, - "hash": { - "sha256-flat-1mb": "69225184c423d87da32c1a17bc0336fe83ccbb36a95291eeb1c336176f7d1cd7", - "sha256": "2b553cbb3da6841a89624973b4abcbeebfa83076270a0308f9fbf0dd01530d8c" - } - }, { "relative_path": "m-2000_1200f-37a.usda", - "size": 16543, + "size": 82264, "hash": { - "sha256-flat-1mb": "d9aa509cff1220b0f4b4a5d7d1f3d0ac7d4414eae1acfec3438b02287ae5d8d2", - "sha256": "b0b7433659663d248142d13536b80ccfce0da6970140d5ce2734e446ffad6153" + "sha256-flat-1mb": "6df3e6251c9ac1c253497e0d9eb4be14d2daa4323a206075eeae3ce937229359", + "sha256": "9ec9b79942606c9abe5707a13f4cdc374ab28c37a0913024c962a4b57486a56d" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 89186, + "size": 89314, "hash": { - "sha256-flat-1mb": "5806054a53413e721cfc4867112ebd50362210cc7a6760f0eea6ccc3b9da80a2", - "sha256": "be510f6d0684a6014122d20d05b76e786c8a07395372f924cfac27c9a913be49" + "sha256-flat-1mb": "d7207147e2c3b44550c1abc8f4529fa23f57b465d378765e9b26a9672fef08d5", + "sha256": "c4408f9c189272e43b26e92be2197f06351aa204629cbcf36d5bdb2cdcc7d135" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m_2000_1200f_37a/.simready/validation.json b/fanuc_m_2000_1200f_37a/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..94193e4cf1be55b54688fc2228d98248d78ed930 100644 --- a/fanuc_m_2000_1200f_37a/.simready/validation.json +++ b/fanuc_m_2000_1200f_37a/.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": 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"profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + } + } + } } } } diff --git a/fanuc_m_2000_1200f_37a/.thumbs/m-2000_1200f-37a.thumb.usd b/fanuc_m_2000_1200f_37a/.thumbs/m-2000_1200f-37a.thumb.usd deleted file mode 100644 index 59489f7c345e77c455876164abdfd2b49b6b01b6..0000000000000000000000000000000000000000 Binary files a/fanuc_m_2000_1200f_37a/.thumbs/m-2000_1200f-37a.thumb.usd and /dev/null differ diff --git a/fanuc_m_2000_1200f_37a/com.nvidia.simready.packaging.json b/fanuc_m_2000_1200f_37a/com.nvidia.simready.packaging.json index c698a34d0fec8f1f72d2d05fa6656152d6453f54..f8f5d2fb6a5667de019fba42062039bbb6a68475 100644 --- a/fanuc_m_2000_1200f_37a/com.nvidia.simready.packaging.json +++ b/fanuc_m_2000_1200f_37a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_2000_1200f_37a.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_2000_1200f_37a.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "016918136d28ac74e1784b1983a081a294f4bf24043d0e3ab893d60fa47aa61c" + "sha256": "6e189e54eb6d62dbd63e67bc5da30933a9237a30b602d2b0d944d07cae0bb6cc" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "a018fcbf6ecafb43d86e517a145b0269efe4d1c85fe36af149b82e5d0f1c35f1" + "sha256": "3db32187fb363111e02efe74002e8a2a250a475ddd9d9c7a1af86e29c4ffb7b8" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "7fcb6ddedaf248da95422e288ae784b15e7b6258a856cac3cec12c9f7937eaad" + "sha256": "ad2a2859fc35518c4d81b8a4bc664d1e2cc2478ed684a377b706b1928188d0af" }, "package_hash": { - "sha256": "0834bc9e6a07c03087e8334c10892f792f5140c938313647c01af5cea2e696f7" + "sha256": "f5b1d3cf2f0491c85858b6a252d8923e8ca551486c65b132577c7b49a83e5eef" } } diff --git a/fanuc_m_2000_1200f_37a/m-2000_1200f-37a.usda b/fanuc_m_2000_1200f_37a/m-2000_1200f-37a.usda index 653749db411e2f2c13d6f920b084543acc8154a7..97e6dfb4d96fb88534e4647a48ac97d1eec4d2cb 100644 --- a/fanuc_m_2000_1200f_37a/m-2000_1200f-37a.usda +++ b/fanuc_m_2000_1200f_37a/m-2000_1200f-37a.usda @@ -21,11 +21,963 @@ } } } + 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 execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "effort_limit_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/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 = 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/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/fanuc_m_2000_1200f_37a/payloads/materials.usda b/fanuc_m_2000_1200f_37a/payloads/materials.usda index 3a61b2e43a8ef27e7aa605b01817964992a67553..f66a4d448c070c8380e9900de8d34d371cf1a21b 100644 --- a/fanuc_m_2000_1200f_37a/payloads/materials.usda +++ b/fanuc_m_2000_1200f_37a/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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) @@ -1447,7 +1447,7 @@ 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" ) @@ -1588,7 +1588,7 @@ 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) @@ -1606,7 +1606,7 @@ 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" ) @@ -1747,7 +1747,7 @@ 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) @@ -1765,7 +1765,7 @@ 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" ) @@ -1906,7 +1906,7 @@ 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) @@ -1924,7 +1924,7 @@ 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" ) @@ -2065,7 +2065,7 @@ 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) @@ -2083,7 +2083,7 @@ 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" ) @@ -2224,7 +2224,7 @@ 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) @@ -2242,7 +2242,7 @@ 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" ) @@ -2383,7 +2383,7 @@ 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) @@ -2401,7 +2401,7 @@ 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" ) @@ -2542,7 +2542,7 @@ 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/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index e80e0d88c4c65387c7867dd6ab7edfbdd04b3463..59b408c698bb05a6ac7c090d312148c64d284bf2 100644 --- a/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m_2000_1700f_47a/.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": "2026-10-26T18:17:36", + "timestamp": "2026-11-02T23:08:33", "assets": [ { "asset": "m-2000_1700f-47a.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": "2d77d78fac3522cc69b23d482481cf4fde5f2de95f637cdd8be8e79415e2fd96" + "sha256": "a4d5369029415ff45ddb32d1c93f0da3b1a448784b56daa305dd3aa498703f18" } } diff --git a/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..cfdae4ec3f1ad6a1b36d20ae9093096d2e983b1a 100644 --- a/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m_2000_1700f_47a/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:35", "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/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.packaging.bom.json index a57025f2e44e942e65c1fcfa934e0c68ff6664f1..caad9618e8ef9fa47618d4015148ebc6e7775528 100644 --- a/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m_2000_1700f_47a/.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/fanuc_m_2000_1700f_47a/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m_2000_1700f_47a/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49425, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "0a4f834047dcd7425b62be9a4e812bebe2acec9be4d178ab8a99801d1861305c", + "sha256": "8451dd63bc4ae22a9642193a9aee18c8c9e6e22eb33bb239f9537f7f83d8e8bd" } }, { @@ -18,20 +18,12 @@ "sha256": "903479338105e12de45e87c4a3efef0e6391e61d194c58481cf6ac1188d67e62" } }, - { - "relative_path": ".thumbs/m-2000_1700f-47a.thumb.usd", - "size": 6133, - "hash": { - "sha256-flat-1mb": "9e99701447bc735efc97bf50dc841e0e49dfcdfbe661476a1c30b08498e221d3", - "sha256": "4e1eb3baef10b9c40066d73edd77888ce2def41e32e5037f413927342d4dfe46" - } - }, { "relative_path": "m-2000_1700f-47a.usda", - "size": 21685, + "size": 87222, "hash": { - "sha256-flat-1mb": "29c3610655409e2892a7d1f1fb00d73c0de5928d6b6ac5051667084575eb7df8", - "sha256": "5bfe3e6114b0546ce838e9cbc5d8733cb552fa641a30e00095788366c4a5999c" + "sha256-flat-1mb": "c4973e38fa466a21e3bfbbd1157cabc106ed4237e177bd9107acb60ab8f5a44e", + "sha256": "2e677b9e576d8d46c08b2a40358d7a4714346dfef239fd72f4533399de6353f7" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 66904, + "size": 67000, "hash": { - "sha256-flat-1mb": "d9d64b3afa3bdc51a2a415525dd5e85c278bdd16c16eae347e46a07edc7de7f7", - "sha256": "578dd6c2b01ece584e160d73c01244eb3c7bc5640117487ebd0f418c6ac7a660" + "sha256-flat-1mb": "e382d25ff413a63680e690b360c69c3256bb626d244e95849e4e82a24a4f6ac0", + "sha256": "93a29e2f77568eedf13c7198c5c884f5040cb662ea2e88c2880ca2a185e652f7" } }, { @@ -189,19 +181,19 @@ }, { "relative_path": "runnables/physics/newton.usda", - "size": 6856, + "size": 7453, "hash": { - "sha256-flat-1mb": "40d99f85727996fa5654af9dbeb2651d8bc5e533e66932cb4dc47cad4a49c5c3", - "sha256": "2996e6e7fb23398805a78cdb949ef8def32bf50131ea46d5ce282b5b029973fe" + "sha256-flat-1mb": "ce050c8b4fa0f9ac22f29819fdf01fb5864711c39f4a65d10683532839db46d8", + "sha256": "baf843c75ee04a50bdfb96882234b080ec6be6c53ef9c715c05ab0eb582147c4" } }, { "relative_path": "runnables/physics/physx.usda", - "size": 4291, + "size": 4785, "hash": { - "sha256-flat-1mb": "ec4a8abd075236e3cbc91afbc44e3419d615b31297d37340158f207916eeba86", - "sha256": "23f2a4cd150e9b8a2183586c5c7ff0ae58e60e9ccfb718585f5e86bcbb320b97" + "sha256-flat-1mb": "538aeb48404be3eb2cedbc563f61fdbb922e3c4f1eefe74340e21aa813186785", + "sha256": "e9c49bbdcff47bb8ca2e29e18150ac09506bfebf3460219ba56d9bd9dbf54198" } } ] -} +} \ No newline at end of file diff --git a/fanuc_m_2000_1700f_47a/.simready/validation.json b/fanuc_m_2000_1700f_47a/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..bc75ce3b43ab70760368c12c56235b79306f3b91 100644 --- a/fanuc_m_2000_1700f_47a/.simready/validation.json +++ b/fanuc_m_2000_1700f_47a/.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", + "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": 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"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/fanuc_m_2000_1700f_47a/.thumbs/m-2000_1700f-47a.thumb.usd b/fanuc_m_2000_1700f_47a/.thumbs/m-2000_1700f-47a.thumb.usd deleted file mode 100644 index 6fe19d936c5e3b68769ceb3bba65c7606c0c81d8..0000000000000000000000000000000000000000 Binary files a/fanuc_m_2000_1700f_47a/.thumbs/m-2000_1700f-47a.thumb.usd and /dev/null differ diff --git a/fanuc_m_2000_1700f_47a/com.nvidia.simready.packaging.json b/fanuc_m_2000_1700f_47a/com.nvidia.simready.packaging.json index bd383c1859d86538c1720d71f1d4f33095248c8d..c0a170b3dfe615435232fe7e304d8e8913c9f234 100644 --- a/fanuc_m_2000_1700f_47a/com.nvidia.simready.packaging.json +++ b/fanuc_m_2000_1700f_47a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_2000_1700f_47a.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_2000_1700f_47a.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "200b297a1275adeafcff4ddf1f10a8a17182815595303f9ec1d5c8d374017f6e" + "sha256": "9c1dd8552537692988b68adc3fff5f1a6af68dd1b4e5a4b441b2cd24acefaf07" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "c6911abfd996f424572272164c47e921afcbfe94a538374744be4e8e926b8914" + "sha256": "1d30ba3228afcc9cb08970cfc4941ab39d2c9f92d0dfd2ce1655e9037f2efc7a" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "0b82d0acbe2d3593086c330fe3875de64c914b8fa76fa46aa17e074f08bace32" + "sha256": "a4d5369029415ff45ddb32d1c93f0da3b1a448784b56daa305dd3aa498703f18" }, "package_hash": { - "sha256": "ad178a137c771f2ec360d2932344c17bf58508be478d5a683af04ef11ffe0799" + "sha256": "aa415f06cfd846a8dea2c3895d2dc8411d565dd9ecd52bced97448297946dde2" } } diff --git a/fanuc_m_2000_1700f_47a/m-2000_1700f-47a.usda b/fanuc_m_2000_1700f_47a/m-2000_1700f-47a.usda index 23278f7a0ab57dba837882a8a0aca28e21cf8d73..0e69c8bdb7aa579b26f9c814cc09eced59c503dd 100644 --- a/fanuc_m_2000_1700f_47a/m-2000_1700f-47a.usda +++ b/fanuc_m_2000_1700f_47a/m-2000_1700f-47a.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 = 1 + string provider = "simready.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/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 = 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/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 = 1 + string provider = "simready.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/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/fanuc_m_2000_1700f_47a/payloads/materials.usda b/fanuc_m_2000_1700f_47a/payloads/materials.usda index ae590a6098df6bd047b3b83b3e20657aba2b5f2d..ac64993115b31a40b779de548e2d58d3de12f697 100644 --- a/fanuc_m_2000_1700f_47a/payloads/materials.usda +++ b/fanuc_m_2000_1700f_47a/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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) @@ -1447,7 +1447,7 @@ 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" ) @@ -1588,7 +1588,7 @@ 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) @@ -1606,7 +1606,7 @@ 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" ) @@ -1747,7 +1747,7 @@ 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) @@ -1765,7 +1765,7 @@ 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" ) @@ -1906,7 +1906,7 @@ 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/fanuc_m_2000_1700f_47a/runnables/physics/newton.usda b/fanuc_m_2000_1700f_47a/runnables/physics/newton.usda index 701ae63133c145ac5394c5c73d0e9ec5451c97f3..61447852b44e982dd8bd5cc944f9f3505394404f 100644 --- a/fanuc_m_2000_1700f_47a/runnables/physics/newton.usda +++ b/fanuc_m_2000_1700f_47a/runnables/physics/newton.usda @@ -119,6 +119,9 @@ over "m_2000_1700f_47a" over "P1_link" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + float physics:mass = 0.01 + over "collisions" { over "p1" @@ -135,6 +138,9 @@ over "m_2000_1700f_47a" over "P2_link" { + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + float physics:mass = 0.01 + over "collisions" { over "p2" @@ -163,9 +169,10 @@ over "m_2000_1700f_47a" ) { float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 700000 float drive:angular:physics:stiffness = 117600.01 - float newton:damping = 3920.0005 - float newton:velocityLimit = 19.999998 + float newton:damping = 8235 + float newton:velocityLimit = 90 } over "J2" ( @@ -175,8 +182,8 @@ over "m_2000_1700f_47a" float drive:angular:physics:damping = 0 float drive:angular:physics:maxForce = 3000000 float drive:angular:physics:stiffness = 6460714.5 - float newton:damping = 215357.16 - float newton:velocityLimit = 13.999999 + float newton:damping = 35294 + float newton:velocityLimit = 90 } over "J3" ( @@ -186,8 +193,8 @@ over "m_2000_1700f_47a" float drive:angular:physics:damping = 0 float drive:angular:physics:maxForce = 3000000 float drive:angular:physics:stiffness = 6881151 - float newton:damping = 229371.7 - float newton:velocityLimit = 13.999999 + float newton:damping = 35294 + float newton:velocityLimit = 90 } over "J4" ( @@ -195,9 +202,12 @@ over "m_2000_1700f_47a" ) { float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 300000 float drive:angular:physics:stiffness = 186666.67 - float newton:damping = 6222.222 - float newton:velocityLimit = 18 + float newton:damping = 3529 + float newton:velocityLimit = 90 + float physics:lowerLimit = -220 + float physics:upperLimit = 220 } over "J5" ( @@ -205,9 +215,10 @@ over "m_2000_1700f_47a" ) { float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 300000 float drive:angular:physics:stiffness = 186666.67 - float newton:damping = 6222.222 - float newton:velocityLimit = 18 + float newton:damping = 3529 + float newton:velocityLimit = 90 } over "J6" ( @@ -215,9 +226,12 @@ over "m_2000_1700f_47a" ) { float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 100000 float drive:angular:physics:stiffness = 37500.004 - float newton:damping = 1250.0001 - float newton:velocityLimit = 39.999996 + float newton:damping = 1176 + float newton:velocityLimit = 90 + float physics:lowerLimit = -220 + float physics:upperLimit = 220 } over "P1" ( @@ -248,6 +262,7 @@ over "m_2000_1700f_47a" over "P2_01" { uniform bool physics:excludeFromArticulation = 1 + bool physics:jointEnabled = 0 } } } diff --git a/fanuc_m_2000_1700f_47a/runnables/physics/physx.usda b/fanuc_m_2000_1700f_47a/runnables/physics/physx.usda index 6629931be06aff167e10dc3cf445eef2d37403cb..29b03f52ead3f6a37ed6f57e08f5b2469ac971c0 100644 --- a/fanuc_m_2000_1700f_47a/runnables/physics/physx.usda +++ b/fanuc_m_2000_1700f_47a/runnables/physics/physx.usda @@ -54,9 +54,12 @@ over "m_2000_1700f_47a" } over "P1" ( - prepend apiSchemas = ["PhysxJointAPI"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotY"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + uniform bool physics:excludeFromArticulation = 0 custom float physxMimicJoint:rotY:dampingRatio = 0.005 float physxMimicJoint:rotY:gearing = 1 custom float physxMimicJoint:rotY:naturalFrequency = 25 @@ -65,9 +68,11 @@ over "m_2000_1700f_47a" } over "P2" ( - prepend apiSchemas = ["PhysxJointAPI"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotY"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 custom float physxMimicJoint:rotY:dampingRatio = 0.005 float physxMimicJoint:rotY:gearing = -1 custom float physxMimicJoint:rotY:naturalFrequency = 25 @@ -79,6 +84,9 @@ over "m_2000_1700f_47a" prepend apiSchemas = ["PhysxJointAPI"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + uniform bool physics:excludeFromArticulation = 1 } } diff --git a/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index a4f49c62cd02f4438f5aaf7b2ef62e27a6db4a07..d686307f4dc96de0bf223618d3618c17b58e830c 100644 --- a/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m_2000_2300f_37a/.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": "2026-10-26T18:17:38", + "timestamp": "2026-11-02T23:08:36", "assets": [ { "asset": "m-2000_2300f-37a.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": "0c6642c9a7bf11ae2f8ac2a37379fa755c33e2cf2928be4b41aef47039c4749c" + "sha256": "e71e53fd713eee9ca30187eb40672d2209a3dee96071bc002221206d526451af" } } diff --git a/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..1a574e39a336fd05649fd5a71d6d03ddf39c0637 100644 --- a/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m_2000_2300f_37a/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:38", "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/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.packaging.bom.json index ba1175dfa397a37a627553851c0479b88502f6f0..22de430ccaa3058f974616c31202eeb431c4dc8a 100644 --- a/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m_2000_2300f_37a/.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/fanuc_m_2000_2300f_37a/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_m_2000_2300f_37a/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49554, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "062a356b05f33407c60f3c16a5300d9ac74e5c27cb93799570110f3151b42f05", + "sha256": "4545e216c136bb9992e2bb147bc4ce3cf6be0c253e398448bb2d33035af8eca6" } }, { @@ -18,20 +18,12 @@ "sha256": "0dbcc699f9be1c59eb32c81548e689cff01c962f703e41038715d0d62954e128" } }, - { - "relative_path": ".thumbs/m-2000_2300f-37a.thumb.usd", - "size": 6133, - "hash": { - "sha256-flat-1mb": "01d27a9ab071cb9714e7172939f60789a0929ea4fce0d4cad680724f2606a9c1", - "sha256": "9b01e15d187babb7005bdaf01a94c78ebdcbdaaf961af76f60acf0a6fad0b5a6" - } - }, { "relative_path": "m-2000_2300f-37a.usda", - "size": 16542, + "size": 82263, "hash": { - "sha256-flat-1mb": "303df6f0577709ab7a86ada9a729cc833ef649bb09be479b9a6859de9f48cca8", - "sha256": "5f94a455c4886a6753b9b7082ec383990ee66096db1bd7abf816165160b43ece" + "sha256-flat-1mb": "e933ff796ab750f4d2db11b84f666973e38509068c074ba6d7bd50257ec9b635", + "sha256": "a40cc79d3ca24eccd432bc5ebc7f09bdfede96a3dfcd18a2088956efdeb80b98" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 74966, + "size": 75070, "hash": { - "sha256-flat-1mb": "2b0dded98b8d7726ef71b05367c50b2a39bd5a9f8043e5957c82cb8238a1e5b1", - "sha256": "86fdcbc0fea5b0fbe5849f2849f2afcb81974a96fe2b03c8a3be97c79c02dd7c" + "sha256-flat-1mb": "50a89736b2cd6ca60fabf37cf6b66cc753033ef17abf81cd86049bec5a8a0087", + "sha256": "2bd5bcb5563174b00c43cf945d9942f45eeec3bee398a052443da53bf1694aee" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_m_2000_2300f_37a/.simready/validation.json b/fanuc_m_2000_2300f_37a/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..94193e4cf1be55b54688fc2228d98248d78ed930 100644 --- a/fanuc_m_2000_2300f_37a/.simready/validation.json +++ b/fanuc_m_2000_2300f_37a/.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 @@ } } } + }, + 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"/.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": 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a/fanuc_m_2000_2300f_37a/com.nvidia.simready.packaging.json b/fanuc_m_2000_2300f_37a/com.nvidia.simready.packaging.json index 822e99d7d56be1e7686377612f4d984e0941d572..f0bc2e9f41816d4d7927692616df11ced3d4c8ab 100644 --- a/fanuc_m_2000_2300f_37a/com.nvidia.simready.packaging.json +++ b/fanuc_m_2000_2300f_37a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_2000_2300f_37a.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_2000_2300f_37a.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "ac298be88259d4509a7a51603b07d54d70fa302a993e70ff1d9dee4c63cc7139" + "sha256": "d9f4ab98aac8b99bd8fb3400149a53beeee67b97369702f4c31bdc118bcd056b" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "b3d1e43008a7c07efa7bd974010d90372821a8ab040a3b72eb000ffc2ddb37ca" + "sha256": "4c13a07524fd5b74fe93d988016dad859fa1d89092e05d2f1f5b6a7c7d800f73" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "49501882350db3022a25eeec1039afc0a82558da6fed294fcf053a90fd600e20" + "sha256": "e71e53fd713eee9ca30187eb40672d2209a3dee96071bc002221206d526451af" }, "package_hash": { - "sha256": "ec484dc2154ac48baa0f59d1bbfd195c5190237fd7ee25e6d1dee927b4e63c94" + "sha256": "f849120b2b038ab42121933a83d6ec95ee602186958b0d1d4d2360140c9caa7d" } } diff --git a/fanuc_m_2000_2300f_37a/m-2000_2300f-37a.usda b/fanuc_m_2000_2300f_37a/m-2000_2300f-37a.usda index 1b5db92a12f3e0f5b647a5510731addb6b560066..578af4dfff104204cea2b1d347f8b497a18f1bb0 100644 --- a/fanuc_m_2000_2300f_37a/m-2000_2300f-37a.usda +++ b/fanuc_m_2000_2300f_37a/m-2000_2300f-37a.usda @@ -21,11 +21,963 @@ } } } + 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 execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "effort_limit_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/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 = 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/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/fanuc_m_2000_2300f_37a/payloads/materials.usda b/fanuc_m_2000_2300f_37a/payloads/materials.usda index efb8cbbb0fd099ddba27bed838c17d99d62c3ddb..e92a25fb5b5c5d4914ae8508179435d5a4a49ba4 100644 --- a/fanuc_m_2000_2300f_37a/payloads/materials.usda +++ b/fanuc_m_2000_2300f_37a/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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/fanuc_m_2000_900f_47a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m_2000_900f_47a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 5534ba348ef527fa984be7980bf95e1e9b6573eb..e138508ff17ed6d7f795a94fa14cfeba1926c92c 100644 --- a/fanuc_m_2000_900f_47a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m_2000_900f_47a/.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": "2026-10-26T18:17:40", + "timestamp": "2026-11-02T23:08:39", "assets": [ { "asset": "m-2000_900f-47a.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": "88cfacdf3be29ec9bb1dc3fbad88f79185f76ac4a785b1db1659e123479c9a53" + "sha256": "fc31ab061206624fa04736a2b856988a385a9acb94dadcc6c4b7c91a99df7b9b" } } diff --git a/fanuc_m_2000_900f_47a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_m_2000_900f_47a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 2af79a352a6f56df506b4b6f4b25c821c54dd19e..d46c0b2c716e36578a57ffa1b9043c486cb25f3d 100644 --- a/fanuc_m_2000_900f_47a/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_m_2000_900f_47a/.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": "2026-10-26T22:35:56", + "timestamp": "2026-11-02T23:08:41", "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/fanuc_m_2000_900f_47a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m_2000_900f_47a/.metadata/com.nvidia.simready.packaging.bom.json index d426fbbab6bd8f8d47127b53c367b9ce7593c33b..9587d8aa852523e44eec14e320a27276c0951d1c 100644 --- a/fanuc_m_2000_900f_47a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m_2000_900f_47a/.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/fanuc_m_2000_900f_47a/2.0.0", + "content_root": 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"/.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" + } + }, + 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"/.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": false, + "status": "incomplete", + "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", + "execution_status": "error", + "failure_category": "test_or_runtime_error" + }, + "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": true, + "status": "pass", + "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/fanuc_m_2000_900f_47a/.thumbs/m-2000_900f-47a.thumb.usd b/fanuc_m_2000_900f_47a/.thumbs/m-2000_900f-47a.thumb.usd deleted file mode 100644 index b9a250554e2bd2a5ce1e7ed7c9e1bd9cd52fe2ec..0000000000000000000000000000000000000000 Binary files a/fanuc_m_2000_900f_47a/.thumbs/m-2000_900f-47a.thumb.usd and /dev/null differ diff --git a/fanuc_m_2000_900f_47a/com.nvidia.simready.packaging.json b/fanuc_m_2000_900f_47a/com.nvidia.simready.packaging.json index 631d6041a19431c9cdc6e3b51c3f84620d57e04f..41ac3b40385201d5851fabcc668bb352b0d21784 100644 --- a/fanuc_m_2000_900f_47a/com.nvidia.simready.packaging.json +++ b/fanuc_m_2000_900f_47a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_2000_900f_47a.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_2000_900f_47a.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "e346e45d757abbac2c2aa5d7f889c46b54e13d43e1a0b53b914b7e876cc3ecd1" + "sha256": "c6d572aa1bfe335d96e25623c5adf584adaba2e13096e54e99ba35bc820331e8" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "bb855ea0139a08c7be00a1bf4f0fc9c8ffe097a15545184071a83e709e7bdcd1" + "sha256": "41fcdb34101d5d4c068068e96714d1c277eacb4fd67538375e3706e900cb357a" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "775475ad50bc22e6e603d5b1af0778d63fd01cbdf4d8cc2856efe11e0e0393be" + "sha256": "fc31ab061206624fa04736a2b856988a385a9acb94dadcc6c4b7c91a99df7b9b" }, "package_hash": { - "sha256": "0800084138e01a3f65c0a51e6db704da23bf1c8511adeff4a4abc3e02bb979af" + "sha256": "d13f1fccbd47afbf4cad461ca407368737aea576d72feeaaa397736210ed4686" } } diff --git a/fanuc_m_2000_900f_47a/m-2000_900f-47a.usda b/fanuc_m_2000_900f_47a/m-2000_900f-47a.usda index 146c2ecc9225d8565a0c19afc1eb82508262dcbc..302e1dd86670d633bc32eac4f560796b7d28a14f 100644 --- a/fanuc_m_2000_900f_47a/m-2000_900f-47a.usda +++ b/fanuc_m_2000_900f_47a/m-2000_900f-47a.usda @@ -21,11 +21,963 @@ } } } + 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 execution_status = "error" + string failure_category = "test_or_runtime_error" + string name = "effort_limit_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/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 = 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/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/fanuc_m_2000_900f_47a/payloads/materials.usda b/fanuc_m_2000_900f_47a/payloads/materials.usda index f63f45eab00b29f30e8a5ce4931529bc9e489003..de04732f2c55b473f47439183453aabd4544db16 100644 --- a/fanuc_m_2000_900f_47a/payloads/materials.usda +++ b/fanuc_m_2000_900f_47a/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 514d1021e783b13fddf2af0ca745618637f8c1bf..2ed88682be5ea9955217f55a63a1b1b39dfb5b70 100644 --- a/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:18:44", + "timestamp": "2026-11-02T23:10:00", "assets": [ { "asset": "r1000ia_100f.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": "3d21a62fa19cb8d15e04f34bd2569ed295f2bf1a6ead730879a25c7b150044b5" + "sha256": "1a74fefefadb962970c8dae636edae9b147889e6164368716af2cb6728f64c03" } } diff --git a/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..4314dffd961904f2264b07ce91a692d3badea1e7 100644 --- a/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r1000ia_100f/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:02", "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/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.packaging.bom.json index 28f72c8c257688fd5702300d74ed5c378cf6fb8b..d41c6f0729a61dfcfcbe9234e8c65657aa656c75 100644 --- a/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r1000ia_100f/.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/fanuc_r1000ia_100f/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r1000ia_100f/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": "d3433e14a4d1a26787b4cfefef963c30ed9dd7e62c8c48d161c868cd2cbe6a4a" } }, - { - "relative_path": ".thumbs/r1000ia_100f.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": "57e653174b4b2e33bb435c37cf33586452fac03012fb7671d0ec0407cb64b60a", - "sha256": "febbf0f898230237d202361bf1dd7228797fef0d3f47cc1da1bc30b840f10aeb" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 67531, + "size": 67627, "hash": { - "sha256-flat-1mb": "a2328120fac1f6a4fbaf8875bbeef5ab610d978d69090de589ac8693ac286f97", - "sha256": "647dce56932df4844bce8e148e0c443d2d9b37703cadc0b8eb1791fe769d9580" + "sha256-flat-1mb": "77002a06bb14fdc47ecd5270044b4b90ac714c0c8e2e80b9106c17de1c4709fd", + "sha256": "cb1e78cb87d5775bc4826f799faf5ee16194b169e750d37a634c4e166cde7f4d" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r1000ia_100f.usda", - "size": 15148, + "size": 80694, "hash": { - "sha256-flat-1mb": "70eaa6f520221d407311184ffd1e4fc5a2439c1cc6e0d8f237a2f150b45b9e91", - "sha256": "7e9187d54e8e1a9fefacbae244f969f561dcc4110d913700f43ac4b8911659a7" + "sha256-flat-1mb": "f11895576dfa88f5c45d5f464d5860c006937fe636f5b9d76ad6f84c0bb1a54e", + "sha256": "43bc099c33c29c73b9833c4a4ce1b008fec777adeadc898201c0653574b2c23b" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r1000ia_100f/.simready/validation.json b/fanuc_r1000ia_100f/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_r1000ia_100f/.simready/validation.json +++ b/fanuc_r1000ia_100f/.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", + "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" + 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+ }, + "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/fanuc_r1000ia_100f/.thumbs/r1000ia_100f.thumb.usd b/fanuc_r1000ia_100f/.thumbs/r1000ia_100f.thumb.usd deleted file mode 100644 index 775fda763184d246f7f26ffd4b893e4c5c0645e5..0000000000000000000000000000000000000000 Binary files a/fanuc_r1000ia_100f/.thumbs/r1000ia_100f.thumb.usd and /dev/null differ diff --git a/fanuc_r1000ia_100f/com.nvidia.simready.packaging.json b/fanuc_r1000ia_100f/com.nvidia.simready.packaging.json index f4254d00140aa8258e426274c75f269d2beb7661..e8845b0dfabb25c3d19051cbfae77f7569c372a3 100644 --- a/fanuc_r1000ia_100f/com.nvidia.simready.packaging.json +++ b/fanuc_r1000ia_100f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_100f.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_100f.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "837d2299e6b7aea88b761d0fab9648446dcc3cc5624442f0c887768b560348de" + "sha256": "7b03971ed24d099d8161bae4f26bcaaa82a7893f1b4d7d3dc47d965789b3f7fd" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "1cbfaaf186f5d888b909cd39a16cce7e8cfe1aaf90292e50a773ffb0533980a5" + "sha256": "d2cb96f96ab17abf3ce21def4c6d44f269935141d4d9414f62f070767612122c" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "aa5c534c8cd9256ab46a43ce3c33245892ed9fe61f7a94e1ff5f5c55b3e29de3" + "sha256": "1a74fefefadb962970c8dae636edae9b147889e6164368716af2cb6728f64c03" }, "package_hash": { - "sha256": "92da570ca765b2a43cdb5bd7744c3efde7020c9a5ec1fb21054e11507aaa2aaf" + "sha256": "9df5ab4b98b8c6e78879c5549d4ac63d2f2f384cdfef01a38e9a127e6ad866ad" } } diff --git a/fanuc_r1000ia_100f/payloads/materials.usda b/fanuc_r1000ia_100f/payloads/materials.usda index 88a102959111c57ae8d995737d32aafea404ffe0..0567cb976e6c004e6b1fb3ff0e98bcbafbcd9ca2 100644 --- a/fanuc_r1000ia_100f/payloads/materials.usda +++ b/fanuc_r1000ia_100f/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) @@ -178,7 +178,7 @@ 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" ) @@ -319,7 +319,7 @@ 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) @@ -337,7 +337,7 @@ 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" ) @@ -478,7 +478,7 @@ 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) @@ -496,7 +496,7 @@ 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" ) @@ -637,7 +637,7 @@ 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) @@ -655,7 +655,7 @@ 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" ) @@ -796,7 +796,7 @@ 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) @@ -814,7 +814,7 @@ 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" ) @@ -955,7 +955,7 @@ 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) @@ -973,7 +973,7 @@ 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" ) @@ -1114,7 +1114,7 @@ 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) @@ -1132,7 +1132,7 @@ 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" ) @@ -1273,7 +1273,7 @@ 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) @@ -1291,7 +1291,7 @@ 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" ) @@ -1432,7 +1432,7 @@ 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) @@ -1453,7 +1453,7 @@ 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" ) @@ -1594,7 +1594,7 @@ 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) @@ -1615,7 +1615,7 @@ 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" ) @@ -1756,7 +1756,7 @@ 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) @@ -1774,7 +1774,7 @@ 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" ) @@ -1915,7 +1915,7 @@ 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/fanuc_r1000ia_100f/r1000ia_100f.usda b/fanuc_r1000ia_100f/r1000ia_100f.usda index e5fe7c91a193c5c9a1b83be30ce8c1b467918c50..d55bdfe51778e93c33a7d1e7e32cac280c84acd8 100644 --- a/fanuc_r1000ia_100f/r1000ia_100f.usda +++ b/fanuc_r1000ia_100f/r1000ia_100f.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/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index c52240666d4f906be4cfc9c30064bc181ad64a39..37f4703c59deef6c738a64d7b9e696320fb43d34 100644 --- a/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:18:46", + "timestamp": "2026-11-02T23:10:03", "assets": [ { "asset": "r1000ia_130f.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": "cc4c3f103887aed2f02212934bd8d74e59eb0495c776b51f040975f268591746" + "sha256": "7d721828cb5d0d952ca37610ac7532e0d532c663a92e1fba9db841a3a8203104" } } diff --git a/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..a2ca6d8360258cd335c7ce10383354a3e76c746d 100644 --- a/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r1000ia_130f/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:04", "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/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.packaging.bom.json index 2f448c3985c5d67c9f367a424d24416e3d306b04..b1bddd1284843de24df68e8c9d0af555028b74b1 100644 --- a/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r1000ia_130f/.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/fanuc_r1000ia_130f/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r1000ia_130f/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": "48c4f93f10e7507a9500d0cb4c1ced848b1b3e51d9d4d79b6b9d10b2d8984a42" } }, - { - "relative_path": ".thumbs/r1000ia_130f.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": "d94d7e5fec160b23c7ed68f87de76dc012821d64f0f36dba77c833d9832f2101", - "sha256": "140e1a39479e55955aaa37261aa5de52eed6eab17f2a6ff56279fad7dc5f638d" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 72585, + "size": 72689, "hash": { - "sha256-flat-1mb": "751330ca883ced355732b714268653ffe0f02aa9ad2469d0e55ce98291f60a94", - "sha256": "907dbbf7dd46950a4897165a660d54c2636bc16fe43c5d64a71aac043b35969b" + "sha256-flat-1mb": "627e4f1f88e455f33bc829f1aae560706c0dc11b077f5910a3b51618ad630196", + "sha256": "9cec7af699ec4601d3572509bd5924c163f120f5ae2a5f8d729bd7300ea07386" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r1000ia_130f.usda", - "size": 15148, + "size": 80694, "hash": { - "sha256-flat-1mb": "acce93a950f538de1fde5d75c43270d119b9290b3f965d5fc230881d47f4500e", - "sha256": "ecc07a7b076ba7c56b4b13e12b983142464773e451b5a3d023cd55bc77f6b68d" + "sha256-flat-1mb": "ea0abeb0415d21294d323d7d1ae4e9408672d9e14de8aedfc46fa8835c4b066f", + "sha256": "ff5c2639777210af97c97f80a623852c34367150ae8701ea6d4a347fcd82659f" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r1000ia_130f/.simready/validation.json b/fanuc_r1000ia_130f/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_r1000ia_130f/.simready/validation.json +++ b/fanuc_r1000ia_130f/.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", + "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" + 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"/.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/fanuc_r1000ia_130f/.thumbs/r1000ia_130f.thumb.usd b/fanuc_r1000ia_130f/.thumbs/r1000ia_130f.thumb.usd deleted file mode 100644 index c174f8607ab1c04cf4dc822f898d290d7eca47b6..0000000000000000000000000000000000000000 Binary files a/fanuc_r1000ia_130f/.thumbs/r1000ia_130f.thumb.usd and /dev/null differ diff --git a/fanuc_r1000ia_130f/com.nvidia.simready.packaging.json b/fanuc_r1000ia_130f/com.nvidia.simready.packaging.json index 6c3f0342ce402b6d1a77643baaf7a85ba3343884..b6b0b050b0e309455cebb07f6a66f05960b0a8e5 100644 --- a/fanuc_r1000ia_130f/com.nvidia.simready.packaging.json +++ b/fanuc_r1000ia_130f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_130f.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_130f.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "087d48347e4b8b507bbbc6f0ec0bc22ddfe135e7bb6ee4ceee8bc5d27fb1559a" + "sha256": "39fe322ea261fb97efea2b00856e45deeb435af9f45489de4e85dfdd4b5a7178" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "c07223eb88d3a88583fedbc543e174cbd75c36b103748be5fe11dd857b3982ca" + "sha256": "d153a36d74e51f9d2818568c332fb1bf4940c0f2ace7433715be17f037070c60" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "ac0c6c14177214e6e476ace7f11e34f70d34c06cb2f6045bd037c2cd703343dd" + "sha256": "7d721828cb5d0d952ca37610ac7532e0d532c663a92e1fba9db841a3a8203104" }, "package_hash": { - "sha256": "a0d6e3befcc92c68243663bd6b7d599eef3b65b1fcbaf9322877e9ae32cbcccd" + "sha256": "2a939fe8385e11b83781ab4b2ee227332b7fd233a03d4711142f6533b435d6ce" } } diff --git a/fanuc_r1000ia_130f/payloads/materials.usda b/fanuc_r1000ia_130f/payloads/materials.usda index 45b62809b846b633d8302ffc5d7e23e72a86a22d..b02301f12a4d99da09e8b969a036099a1ddbc3e1 100644 --- a/fanuc_r1000ia_130f/payloads/materials.usda +++ b/fanuc_r1000ia_130f/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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) @@ -1447,7 +1447,7 @@ 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" ) @@ -1588,7 +1588,7 @@ 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) @@ -1606,7 +1606,7 @@ 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" ) @@ -1747,7 +1747,7 @@ 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) @@ -1765,7 +1765,7 @@ 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" ) @@ -1906,7 +1906,7 @@ 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) @@ -1924,7 +1924,7 @@ 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" ) @@ -2065,7 +2065,7 @@ 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/fanuc_r1000ia_130f/r1000ia_130f.usda b/fanuc_r1000ia_130f/r1000ia_130f.usda index df4cfabe28ab7dba6157cce5eae10925d8ed7c83..9503b551d72fd878210d1de1c3f5ece4bff7200f 100644 --- a/fanuc_r1000ia_130f/r1000ia_130f.usda +++ b/fanuc_r1000ia_130f/r1000ia_130f.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/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 4d36fa30efc55bfac1a74a5ab09851a84a6b21fc..8956cc6b3a4372bd6e7fd8e1d66fb0db10cc7600 100644 --- a/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:18:48", + "timestamp": "2026-11-02T23:10:05", "assets": [ { "asset": "r1000ia_80f.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": "bfd4dd4b04358ba56e2951e8003cd0753aebb64f4737b952acd16177821a6391" + "sha256": "7a747b361f98eac8fb2b4e7e65cd999a56a78503dc9c9bbb2da506d5c81c9bef" } } diff --git a/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..dc0ff698c3e102226981ddd959b859c1c9a341fd 100644 --- a/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r1000ia_80f/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:07", "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/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.packaging.bom.json index f1ddb65a1cfaeb8792439915dcf60d1f09855c68..b3bf3238d00d344d731c20581678ce56cd22ced3 100644 --- a/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r1000ia_80f/.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/fanuc_r1000ia_80f/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r1000ia_80f/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": "aa6fd8b4e4c66580275da66d4b1987b4307bfce73ab96c3ad804178ac5e0d760" } }, - { - "relative_path": ".thumbs/r1000ia_80f.thumb.usd", - "size": 6128, - "hash": { - "sha256-flat-1mb": "1665022dae7b76997a8abe21b7527dd60da8541d11844ebee8199915fc8f6cff", - "sha256": "5a5bc96f861d9441d2637b99cdb8c68e6b55a8ffd7a0380b822c25be90a2afab" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 72790, + "size": 72894, "hash": { - "sha256-flat-1mb": "a096c36c212cf5287f62918db63b976397bd2077e6a1be85738077d84cba0a13", - "sha256": "4d710b33296857b33508e1b83544cbc1dc9982cefd085963d022da007ebe9eae" + "sha256-flat-1mb": "6072be0d666ca2366034ab0e9262d1de3a79cc900d0be5aa179e7825fbf35550", + "sha256": "504098057a6da2469a6b21464449d674cf499b5e37d6d1b1ffd6d7462f9dfc8c" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r1000ia_80f.usda", - "size": 15140, + "size": 80686, "hash": { - "sha256-flat-1mb": "78105e2dc04f4bc253defdcc71c938f54218a3551c0173e7b950a3cb37dd47ae", - "sha256": "afb4952d1a008ba8f24d0d96bd7e94b95d6adffe6f90ae23995ff5d6b25d98f8" + "sha256-flat-1mb": "5ec140461537dccc671bcac183a053a102130581fc76e122ba9d861aa97fff42", + "sha256": "b8e0450fbcd18c34f7b52fcd06e555597bb7bf46c3161878f17b284233906f09" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r1000ia_80f/.simready/validation.json b/fanuc_r1000ia_80f/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_r1000ia_80f/.simready/validation.json +++ b/fanuc_r1000ia_80f/.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", + "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, + 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"profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "passed": true, + "status": "pass", + "version": "0.1.0", + "engines": { + "isaac_sim": { + "passed": true, + "tests": { + "display_color_response": { + "passed": true, + "status": "pass", + "name": "display_color_response", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.5" + } + }, + "status": "pass" + }, + "isaac_sim_newton": { + "passed": true, + "tests": { + "display_color_response": { + "passed": true, + "status": "pass", + "name": "display_color_response", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.5" + } 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b/fanuc_r1000ia_80f/com.nvidia.simready.packaging.json index a29725078ab2bcd0b26fb7058d8d9b912b48bc3c..0d0ba1b56abba7ea20b8ee73043d398cc1c37808 100644 --- a/fanuc_r1000ia_80f/com.nvidia.simready.packaging.json +++ b/fanuc_r1000ia_80f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_80f.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_80f.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "a59a6281c6ce46c727b99d0af36d35ea9034a71bb50992708380287278279f99" + "sha256": "33f21fc4762658e4c89a5513e865cbc6b6adb3015fbd211a6c4da372643746ef" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "8abe735bc4664e8318d2e162b1c5069ca748b6f852f8bff7927745d70071520c" + "sha256": "24badf5e878e5be425476b110649878fc6f0bb3c543ef487b419463e8ed01687" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "94535164324ca5ee13956a3b838bacb90ae20c5d8bc50f5b8822c97ea3b2dd16" + "sha256": "7a747b361f98eac8fb2b4e7e65cd999a56a78503dc9c9bbb2da506d5c81c9bef" }, "package_hash": { - "sha256": "21e88577c4cb9ea238e0f6ed28b0acdaa8c8a7e3fde7186b06eb213b492b1ed9" + "sha256": "30250d06745554e13d2e5ea562aa162a2b6dd25b19019d11ab08b9a5df9a1123" } } diff --git a/fanuc_r1000ia_80f/payloads/materials.usda b/fanuc_r1000ia_80f/payloads/materials.usda index f9c56e16a3c87ae6a387ccea94493d43113fde73..f42dde346c9cd2dbea0e0c4da9e43d92058a6d04 100644 --- a/fanuc_r1000ia_80f/payloads/materials.usda +++ b/fanuc_r1000ia_80f/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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) @@ -1447,7 +1447,7 @@ 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" ) @@ -1588,7 +1588,7 @@ 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) @@ -1606,7 +1606,7 @@ 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" ) @@ -1747,7 +1747,7 @@ 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) @@ -1765,7 +1765,7 @@ 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" ) @@ -1906,7 +1906,7 @@ 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) @@ -1927,7 +1927,7 @@ 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" ) @@ -2068,7 +2068,7 @@ 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/fanuc_r1000ia_80f/r1000ia_80f.usda b/fanuc_r1000ia_80f/r1000ia_80f.usda index dc78929fac19c529ccafed88a25ad2a32ed46654..e5fa83e71497f8d60a2d7ae66131e70f74302e72 100644 --- a/fanuc_r1000ia_80f/r1000ia_80f.usda +++ b/fanuc_r1000ia_80f/r1000ia_80f.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/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 09e78eedcf223c3a47f7178db9ba0310f0b74d36..b4c6f2eda253bf7c6a5888e01c8d3a1e431ddc19 100644 --- a/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:18:51", + "timestamp": "2026-11-02T23:10:08", "assets": [ { "asset": "r2000ic_100p.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": "c8c43528c68d73c0ce35e56b4d664abfaca298c73c4498e814226d102e480938" + "sha256": "769d8a5bf0f734c8e3edbe65682f3f99b03a9f4ea485b2b29e8265d465e2af20" } } diff --git a/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..3ae9bb4711488130b0cee564cedaea7cde64923b 100644 --- a/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000ic_100p/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:10", "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/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.packaging.bom.json index 5044bf3bdae605e0f9663a7a98bab876aa67cda2..27afca714373557656a0b7d6127c70291cee109c 100644 --- a/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_100p/.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/fanuc_r2000ic_100p/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000ic_100p/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49445, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "bd405ded42daf9b4667f1bcf934ff0cbe05d83ed2f7e0905bd86b52c5c55e35e", + "sha256": "c34c33ec1f207b9f74b91034c7fe4e36954748ce5f2657e5c1e7400d08e6c33d" } }, { @@ -18,14 +18,6 @@ "sha256": "2197ee9a26a58e09cf4ebe3418013cfc8c12f782708af5ca4413cba260aaf127" } }, - { - "relative_path": ".thumbs/r2000ic_100p.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": "9f2bbc3f67722cb423910191800b5e0e33d01e9b0bf140a35834e3d2149c0973", - "sha256": "5d7b96b8ebfb1363638e068e20e1df28f3fac25c24bbd67e6eee561d99465e3c" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 95247, + "size": 95383, "hash": { - "sha256-flat-1mb": "1e41d0ac5797c19deaba0bb41f72d94855f0eba4508dad79b41146984c209425", - "sha256": "a67005510331371ede54a0a27803e169be7ff7e28faaf2b236dc263e0461ae7f" + "sha256-flat-1mb": "30cfea0e83ee1a4a8af65c26040cfb5c637d2487bf7d6ae6227df77110d14295", + "sha256": "fcb68f8e966db732fd9c19df3245e3248707b4c765392f22887d6b51114aaf98" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r2000ic_100p.usda", - "size": 15149, + "size": 80701, "hash": { - "sha256-flat-1mb": "7ea747d0d6eb27961cbda8eb2b4e08360591641da0281b8aaef4df1cb81208d5", - "sha256": "976baed2ed497d16ea14115d8b67838e388128a362896717082af5fd5b69b578" + "sha256-flat-1mb": "41452f34856c606b62dd931e5bb57c481aa7220e49b575ac0a634184269fe447", + "sha256": "184b65879af8e854f99297f81b532e8a5d0db56b51faacf32dbe613e3200fa68" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r2000ic_100p/.simready/validation.json b/fanuc_r2000ic_100p/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..a98f0eb22c04b77bcd9952f467eb35a897e74a5a 100644 --- a/fanuc_r2000ic_100p/.simready/validation.json +++ b/fanuc_r2000ic_100p/.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": 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"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/fanuc_r2000ic_100p/.thumbs/r2000ic_100p.thumb.usd b/fanuc_r2000ic_100p/.thumbs/r2000ic_100p.thumb.usd deleted file mode 100644 index 6d2d347794134bb427ea6d67a0187fb29ce98969..0000000000000000000000000000000000000000 Binary files a/fanuc_r2000ic_100p/.thumbs/r2000ic_100p.thumb.usd and /dev/null differ diff --git a/fanuc_r2000ic_100p/com.nvidia.simready.packaging.json b/fanuc_r2000ic_100p/com.nvidia.simready.packaging.json index e48469e2e04064d8e31cd675964b77482558456c..42190235df315c5af9c9e5e067af915a415b1471 100644 --- a/fanuc_r2000ic_100p/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_100p/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_100p.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_100p.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "72182c73b3bac87f05ab616e3cbe27db957252011273472829d150889a787b84" + "sha256": "603cfe9a0ae163b97e5745898c9a4563ed28d9c5078dcd7607adeceb628a5794" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "8b3bfaeb45cbe446f7b6b75479a9ba901dc30cb12270f113c37b474c05a48bd0" + "sha256": "fabb10437c9f84208fe984086e1eccd19e46c1b5aef3eadd2a59bfb677f04e90" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "d2ad337eff235d1f7aec831882cb93018fdf95f1b1835dbd19bbf349a258b3c0" + "sha256": "769d8a5bf0f734c8e3edbe65682f3f99b03a9f4ea485b2b29e8265d465e2af20" }, "package_hash": { - "sha256": "ccadd669664069fb6b1260e5110e79910571a6c811c20cbec3e897a249cb3e49" + "sha256": "5d3ddaaa550ca9e3e8222088062354b6b3337c4f2b0511fcacdfc7c5b25e538f" } } diff --git a/fanuc_r2000ic_100p/payloads/materials.usda b/fanuc_r2000ic_100p/payloads/materials.usda index 54e6456875f2587c1645d262c5fda4bf626e2ff0..ccd38215ab460483f2f01dbd645318fc08e4c7a0 100644 --- a/fanuc_r2000ic_100p/payloads/materials.usda +++ b/fanuc_r2000ic_100p/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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) @@ -1447,7 +1447,7 @@ 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" ) @@ -1588,7 +1588,7 @@ 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) @@ -1606,7 +1606,7 @@ 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" ) @@ -1747,7 +1747,7 @@ 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) @@ -1765,7 +1765,7 @@ 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" ) @@ -1906,7 +1906,7 @@ 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) @@ -1924,7 +1924,7 @@ 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" ) @@ -2065,7 +2065,7 @@ 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) @@ -2083,7 +2083,7 @@ 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" ) @@ -2224,7 +2224,7 @@ 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) @@ -2245,7 +2245,7 @@ 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" ) @@ -2386,7 +2386,7 @@ 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) @@ -2404,7 +2404,7 @@ 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" ) @@ -2545,7 +2545,7 @@ 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) @@ -2566,7 +2566,7 @@ 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" ) @@ -2707,7 +2707,7 @@ 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/fanuc_r2000ic_100p/r2000ic_100p.usda b/fanuc_r2000ic_100p/r2000ic_100p.usda index 3649cee49e7aafb8639e7baefe6843c21d7afb36..6d6c7de53d08d51d64f30315171a63b951e315d2 100644 --- a/fanuc_r2000ic_100p/r2000ic_100p.usda +++ b/fanuc_r2000ic_100p/r2000ic_100p.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 = 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/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 = 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/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/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index cb8150fa40e6cf75289e8d78a5913de2c2e41500..ffbd9515bc1dc12e06ee31429f327233a621ecfb 100644 --- a/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:18:53", + "timestamp": "2026-11-02T23:10:11", "assets": [ { "asset": "r2000ic_100ph.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": "c976e4aa20baad506d989fac09bc108271b23c24c11415d4d667aac67f8d38af" + "sha256": "8c6ee179eda47067865b4af658d1577e4b34a883d37a34aac9d3d496fe25c8cc" } } diff --git a/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..a7c3e0f98d9130b52884cdb92e6aa2740ea6b15e 100644 --- a/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000ic_100ph/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:13", "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/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.packaging.bom.json index fa24347b640c33ad4a7c2b31be99b0c787cb5620..e882b8f98cb58244daf376ff189b8fd70818d8ed 100644 --- a/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_100ph/.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/fanuc_r2000ic_100ph/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000ic_100ph/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49445, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "bd405ded42daf9b4667f1bcf934ff0cbe05d83ed2f7e0905bd86b52c5c55e35e", + "sha256": "c34c33ec1f207b9f74b91034c7fe4e36954748ce5f2657e5c1e7400d08e6c33d" } }, { @@ -18,14 +18,6 @@ "sha256": "7ac3b8d43b178033b4e5a749a6171b25de5e12225001df19acac1ee2e2967444" } }, - { - "relative_path": ".thumbs/r2000ic_100ph.thumb.usd", - "size": 6130, - "hash": { - "sha256-flat-1mb": "277c82b51a83dba3a08433a994896b7695801f82fc3155e89c3861c10ce2f992", - "sha256": "39abb626f0141bf757e7f1047d5e0ddb2e9f70b00f9f9c2e12a3fd20706397a8" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 106439, + "size": 106591, "hash": { - "sha256-flat-1mb": "d09a7fddb5038839a8129ca80b531ad017f7fc3278eea5ffe8c8c24850a75ff4", - "sha256": "95f343b0130ac164f959cfe3cef76f3a1addbc89eaf057b4a500f54edad9dd09" + "sha256-flat-1mb": "1ce6f3def582e9ff0baf2d6483d90efdd38e4efa640245cf26c8fcad6918ef83", + "sha256": "cb6fa85689173f4bbc8679b48cf868460f371430687c396db2a6c59dd1eae15c" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r2000ic_100ph.usda", - "size": 16029, + "size": 81581, "hash": { - "sha256-flat-1mb": "2c340135f113b9339179abe3bf7c8bedb3b15d4a868ad6316b2f7238e06ca43a", - "sha256": "32175fb62415fe7c82577317a3bd0d64e6cfc79e29492106a0768a767cbcad26" + "sha256-flat-1mb": "4ce4e54c2fd34a92fd64accabc03d6c62215d381c2f23b9fcbf981216a8029b5", + "sha256": "675568fa716832b058c0877191256179fc7794a8a7c4668e5a0de0401a91ea6f" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r2000ic_100ph/.simready/validation.json b/fanuc_r2000ic_100ph/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..a98f0eb22c04b77bcd9952f467eb35a897e74a5a 100644 --- a/fanuc_r2000ic_100ph/.simready/validation.json +++ b/fanuc_r2000ic_100ph/.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": { 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"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/fanuc_r2000ic_100ph/.thumbs/r2000ic_100ph.thumb.usd b/fanuc_r2000ic_100ph/.thumbs/r2000ic_100ph.thumb.usd deleted file mode 100644 index a8ff42cfe81eecc7565e8a40cf7f5e753d31827a..0000000000000000000000000000000000000000 Binary files a/fanuc_r2000ic_100ph/.thumbs/r2000ic_100ph.thumb.usd and /dev/null differ diff --git a/fanuc_r2000ic_100ph/com.nvidia.simready.packaging.json b/fanuc_r2000ic_100ph/com.nvidia.simready.packaging.json index 6ed6b9a3788a540bbd1224dd07fc139be2c20b02..10db1a11ff2ada5f68a805a2b03682c74bf28b3e 100644 --- a/fanuc_r2000ic_100ph/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_100ph/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_100ph.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_100ph.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "1444254dbe976f860cccbe3fb2eaff74d4f1e0192064ef5cf991b31d8dec18b8" + "sha256": "1183a5b79ddf04e413c3d25168f1cc259267a17fccab49c16c10c14ada33769c" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "3a8f473d68421d299fdc4a543c4c1e944f11323c84484846be30b33db60fca58" + "sha256": "4c6faa03dc61318feb2eeef82450d0d353dab4af9adb9b226d9498dd42de48c5" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "3acf587ea2ac314892c9c5498935370de087186dd16c8e5f3bd79fc4a3daaba4" + "sha256": "8c6ee179eda47067865b4af658d1577e4b34a883d37a34aac9d3d496fe25c8cc" }, "package_hash": { - "sha256": "6a5d365aada77733ffebdcd7fb6aa8bf6633e0f4c1b7737e9d7bb9260d1ff096" + "sha256": "2ba83a7413c7e5217d41227e844098cfd9efb46a3108c943fa753e694c53ee57" } } diff --git a/fanuc_r2000ic_100ph/payloads/materials.usda b/fanuc_r2000ic_100ph/payloads/materials.usda index 9845aa385483affe694bccac63929bf9b55b2ea9..672732f3ff54682b7d00a9c6241d210f93068057 100644 --- a/fanuc_r2000ic_100ph/payloads/materials.usda +++ b/fanuc_r2000ic_100ph/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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) @@ -1447,7 +1447,7 @@ 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" ) @@ -1588,7 +1588,7 @@ 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) @@ -1606,7 +1606,7 @@ 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" ) @@ -1747,7 +1747,7 @@ 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) @@ -1768,7 +1768,7 @@ 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" ) @@ -1909,7 +1909,7 @@ 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) @@ -1930,7 +1930,7 @@ 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" ) @@ -2071,7 +2071,7 @@ 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) @@ -2089,7 +2089,7 @@ 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" ) @@ -2230,7 +2230,7 @@ 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) @@ -2248,7 +2248,7 @@ 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" ) @@ -2389,7 +2389,7 @@ 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) @@ -2407,7 +2407,7 @@ 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" ) @@ -2548,7 +2548,7 @@ 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) @@ -2566,7 +2566,7 @@ 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" ) @@ -2707,7 +2707,7 @@ 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) @@ -2725,7 +2725,7 @@ 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" ) @@ -2866,7 +2866,7 @@ 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) @@ -2884,7 +2884,7 @@ 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" ) @@ -3025,7 +3025,7 @@ 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/fanuc_r2000ic_100ph/r2000ic_100ph.usda b/fanuc_r2000ic_100ph/r2000ic_100ph.usda index cbdb679c51ce8a1f292fec4450ae1960c02d8d97..44318c77fe5a49aeb4d8a5f93a1ceff2c24dfd06 100644 --- a/fanuc_r2000ic_100ph/r2000ic_100ph.usda +++ b/fanuc_r2000ic_100ph/r2000ic_100ph.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 = 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/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 = 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/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/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index d4f08faae423ca65fddbc120d53848a66d0944d8..f8413843f13ca4ee95843a77ca15372605cbc887 100644 --- a/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:18:55", + "timestamp": "2026-11-02T23:10:14", "assets": [ { "asset": "r2000ic_125l.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": "8bf432491b2cbf5c782c2ae6c6c9eae4519b922bd374812be74cf64a7ee0240b" + "sha256": "345c532e23b715e1e816c2e9fb8259066820782a0b5d295aaf6dce3cb13ac2b3" } } diff --git a/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..fdad76dc75a5d1c7642d21994e03d353f4f41e44 100644 --- a/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000ic_125l/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:15", "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/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.packaging.bom.json index c1869b85f899f2f2710c6f8c959e43bfbf783f20..a8d4fa4016da4f5c93823dd50f291c17b6a941d8 100644 --- a/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_125l/.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/fanuc_r2000ic_125l/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000ic_125l/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": "7f58d522197000852eb0c172384eb6257cc266eaa520d8751f5b5cd198288ff0" } }, - { - "relative_path": ".thumbs/r2000ic_125l.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": "0dffee8484c96a5cfc570605fa30a17eb6c756b6cd4df9cf9775613ab7f24a92", - "sha256": "26377288f91ac74b0dda8c27b505cb80ea3697608e6348cf10ea3585dba06f99" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 89252, + "size": 89380, "hash": { - "sha256-flat-1mb": "799bca9c78aa0cac96ce09ff345ceb8aedceb51cbccf82c375133f83492d09cb", - "sha256": "44a9cf26c8988fe43d0845c1166aca9630afe1890fb6e4c5f70473c57e98ffb4" + "sha256-flat-1mb": "0ff7bfb9299c663c4f0fe1e4fd4b8ca993021a0c719d86e53f09555ca9c41a62", + "sha256": "4916c9488bf99b37f131bb21360ffff858bff65622f1fda2510c7a49bcaeb326" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r2000ic_125l.usda", - "size": 15151, + "size": 80697, "hash": { - "sha256-flat-1mb": "0082d61dafcaf7f951ecaf71e73972fe44f3a96afaffe912d14e2095d4aa7c8d", - "sha256": "382f2b7bd10c3cd662389a1c46c0304f630b07ae4948a9567ab559909a30e65f" + "sha256-flat-1mb": "3657dadbb806cfe57de68f42e983463a300612bd1b367402d63f87ff969d0496", + "sha256": "55ff446b36dc42ae0dc2d3970375212faa0a5da623a199354dade6c6ffe0a985" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r2000ic_125l/.simready/validation.json b/fanuc_r2000ic_125l/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_r2000ic_125l/.simready/validation.json +++ b/fanuc_r2000ic_125l/.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", + "version": "2.0.3" + }, + "normals_xz": { + "passed": true, + "status": 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"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/fanuc_r2000ic_125l/.thumbs/r2000ic_125l.thumb.usd b/fanuc_r2000ic_125l/.thumbs/r2000ic_125l.thumb.usd deleted file mode 100644 index 51c049c213c6da2de0c354b34e4f5198607b192f..0000000000000000000000000000000000000000 Binary files a/fanuc_r2000ic_125l/.thumbs/r2000ic_125l.thumb.usd and /dev/null differ diff --git a/fanuc_r2000ic_125l/com.nvidia.simready.packaging.json b/fanuc_r2000ic_125l/com.nvidia.simready.packaging.json index 790f7a4fab326ab68858c401bf1f24495f951f5b..9e5704e12b660aae436b12d619798a35ca68bcd4 100644 --- a/fanuc_r2000ic_125l/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_125l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_125l.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_125l.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "e3709ff92e87c7b29072c111eb02c1d0007fa343044eabea4458680977818d8c" + "sha256": "19acfa60755c9c7007fc92d94b4b2396994af33663b108321d5c07818ee7aa28" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "709d34e184258e95b07ab3779bad2add8dc7b690a22172ac35c98562c564a4ff" + "sha256": "c6e84fea01150e3d694447b3104cee0d0e7be46574e57234056032cc5e82dc26" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "387f0b2a711bc19c15b19135e699224ce3e481ae8f7b112b994dc1f692a7a454" + "sha256": "345c532e23b715e1e816c2e9fb8259066820782a0b5d295aaf6dce3cb13ac2b3" }, "package_hash": { - "sha256": "64bdc70454dd63e9e433c1951a4ceef915a650c5cce81b6638a9d5508d674e78" + "sha256": "fe0a62581dbf8487d74717b4c1843a3b8a018e9832caba1cdfddca958d6f5ea5" } } diff --git a/fanuc_r2000ic_125l/payloads/materials.usda b/fanuc_r2000ic_125l/payloads/materials.usda index 453750ff647a14007f667370238f379e75e60feb..4903d74c65cae52e5dafab552e5be27940094cd8 100644 --- a/fanuc_r2000ic_125l/payloads/materials.usda +++ b/fanuc_r2000ic_125l/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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) @@ -1447,7 +1447,7 @@ 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" ) @@ -1588,7 +1588,7 @@ 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) @@ -1606,7 +1606,7 @@ 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" ) @@ -1747,7 +1747,7 @@ 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) @@ -1765,7 +1765,7 @@ 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" ) @@ -1906,7 +1906,7 @@ 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) @@ -1924,7 +1924,7 @@ 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" ) @@ -2065,7 +2065,7 @@ 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) @@ -2083,7 +2083,7 @@ 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" ) @@ -2224,7 +2224,7 @@ 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) @@ -2242,7 +2242,7 @@ 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" ) @@ -2383,7 +2383,7 @@ 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) @@ -2401,7 +2401,7 @@ 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" ) @@ -2542,7 +2542,7 @@ 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/fanuc_r2000ic_125l/r2000ic_125l.usda b/fanuc_r2000ic_125l/r2000ic_125l.usda index 69588f1452c6f71a4561c9f785f62053d2f5a9c2..06394904699983d46abf275947dcee10c3f055de 100644 --- a/fanuc_r2000ic_125l/r2000ic_125l.usda +++ b/fanuc_r2000ic_125l/r2000ic_125l.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/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 267bb7ac239d5de5e2b95365fc95d027062806da..8097d19765c4b4b0662a61cac3a90f07e1b39eae 100644 --- a/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:18:57", + "timestamp": "2026-11-02T23:10:16", "assets": [ { "asset": "r2000ic_165f.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": "f5fdca9ac62387c0c8599693fdfff1f32adc4868c2f278406b353a461a3697dd" + "sha256": "a01cd5424cf49c94e295a7d3c0cb9878fa3b201347c5e739a48b691b6d9eb58d" } } diff --git a/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..df20d5ab19d061c6da513247d6c1dfe588395944 100644 --- a/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000ic_165f/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:18", "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/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.packaging.bom.json index fd87a2031e0ac1e2c1c5062b79c77660af47fa5b..4536776ec932ea46d4f0c6dd3c6b189f6ffbc4a2 100644 --- a/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_165f/.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/fanuc_r2000ic_165f/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000ic_165f/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": "cf93e137c7aeab33725af6b5239d25b54c4819842e17cc1cb86e1ea0c11fd690" } }, - { - "relative_path": ".thumbs/r2000ic_165f.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": "ad0b450d7f2fbd91d98cd214732ab74c5f666ab1dfd3da766ce53749fefb2cd9", - "sha256": "9121cbe6e5ea28346f3a2951c2c6f6c24f234845d381a1903198a6ea2e206e53" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 83675, + "size": 83795, "hash": { - "sha256-flat-1mb": "c616be6a8e27f1f60e6ea4e498c31eb881ebbf600e328c4eacdd80e568ba79a5", - "sha256": "b61863e9e7c97f7d467f0fe8ef28aee87436c29b4dccd30fa087227d6c41ebe2" + "sha256-flat-1mb": "6a66f117a3c4c94f578da573d57645c18b21ab7940bdc8a10f73f169dc15c889", + "sha256": "1373c94db254311374a7dea7f5a08fabd45b6617246fa0517e1c7c447651452d" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r2000ic_165f.usda", - "size": 16337, + "size": 81883, "hash": { - "sha256-flat-1mb": "68451dfd611e30e8d7529de19382dddb674fb10eb15bcdaa0a3f9286b826436a", - "sha256": "a99b372dcee6d252484238969158fa6056e6e5852c3211d937a38146ea316c9b" + "sha256-flat-1mb": "91bf8a73c76be65b1b828e96e919aab5dc13b1468010925dfb9d89e09fd2498f", + "sha256": "de41291de6fba53e4f0d3a523675b469ad8786566fdfca321559c6883df2116b" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r2000ic_165f/.simready/validation.json b/fanuc_r2000ic_165f/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_r2000ic_165f/.simready/validation.json +++ b/fanuc_r2000ic_165f/.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", + "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" + 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"/.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/fanuc_r2000ic_165f/.thumbs/r2000ic_165f.thumb.usd b/fanuc_r2000ic_165f/.thumbs/r2000ic_165f.thumb.usd deleted file mode 100644 index c3be49d7291996fa174f003a931839cd740a9b95..0000000000000000000000000000000000000000 Binary files a/fanuc_r2000ic_165f/.thumbs/r2000ic_165f.thumb.usd and /dev/null differ diff --git a/fanuc_r2000ic_165f/com.nvidia.simready.packaging.json b/fanuc_r2000ic_165f/com.nvidia.simready.packaging.json index c3f5e4fa5f2bc7337333d10a6b718ff56a8bd061..e50ee2778d64b8fd38ae600d89da3b4139973dbb 100644 --- a/fanuc_r2000ic_165f/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_165f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_165f.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_165f.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "196fc59a098f8290803fbddae91c58770226a727734ce6ddba31853036778623" + "sha256": "c32792b9a75abb92ac2563d99a5dbb7d343bdc3561ea39b98e9895b9e51628ca" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "fbb1d707523a59a341a5fe334c83bddc58f907a38a6da185778c133792448907" + "sha256": "6cafe0991ef34a4d9a2ac557bfca51d1a3a1886086ed215efd7fdb7ab380a42f" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "b4918255c6445ddbdc76087587d44d02dc0172154141941dd2a9b93e4dac6d27" + "sha256": "a01cd5424cf49c94e295a7d3c0cb9878fa3b201347c5e739a48b691b6d9eb58d" }, "package_hash": { - "sha256": "6ebaa23ca7512a8955bb506c82f1b0888ecda94c0579b9cd05bbb5ea1b72cc97" + "sha256": "0c544eeab71166dcdba50a52c7b220d0d2699e7226df54ab88f2d3dbc3961e9f" } } diff --git a/fanuc_r2000ic_165f/payloads/materials.usda b/fanuc_r2000ic_165f/payloads/materials.usda index 45a59e553b69884abfc6a5879def5bf93c6f3d04..73edec0565b55880830ec478b964026d0929962f 100644 --- a/fanuc_r2000ic_165f/payloads/materials.usda +++ b/fanuc_r2000ic_165f/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -316,7 +316,7 @@ 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) @@ -334,7 +334,7 @@ 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" ) @@ -475,7 +475,7 @@ 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) @@ -493,7 +493,7 @@ 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" ) @@ -634,7 +634,7 @@ 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) @@ -652,7 +652,7 @@ 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" ) @@ -793,7 +793,7 @@ 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) @@ -811,7 +811,7 @@ 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" ) @@ -952,7 +952,7 @@ 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) @@ -970,7 +970,7 @@ 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" ) @@ -1111,7 +1111,7 @@ 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) @@ -1129,7 +1129,7 @@ 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" ) @@ -1270,7 +1270,7 @@ 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) @@ -1288,7 +1288,7 @@ 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" ) @@ -1429,7 +1429,7 @@ 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) @@ -1447,7 +1447,7 @@ 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" ) @@ -1588,7 +1588,7 @@ 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) @@ -1606,7 +1606,7 @@ 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" ) @@ -1747,7 +1747,7 @@ 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) @@ -1765,7 +1765,7 @@ 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" ) @@ -1906,7 +1906,7 @@ 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) @@ -1924,7 +1924,7 @@ 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" ) @@ -2065,7 +2065,7 @@ 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) @@ -2083,7 +2083,7 @@ 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" ) @@ -2224,7 +2224,7 @@ 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) @@ -2242,7 +2242,7 @@ 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" ) @@ -2383,7 +2383,7 @@ 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/fanuc_r2000ic_165f/r2000ic_165f.usda b/fanuc_r2000ic_165f/r2000ic_165f.usda index 7162e5fdd8bc2657e239aa6e80776d7ff12c3116..ed41fb72188804af4b1a10d31c95d1dcf2e51dc9 100644 --- a/fanuc_r2000ic_165f/r2000ic_165f.usda +++ b/fanuc_r2000ic_165f/r2000ic_165f.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/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 48155b47089feed30e7285e7695423333502a364..24d5c51aa2d1fd0515751ef8134badbe44ec3dc7 100644 --- a/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:18:59", + "timestamp": "2026-11-02T23:10:19", "assets": [ { "asset": "r2000ic_165r.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": "1ecb2168dd1ae4ad206cc39521229b1059bd2c59ff02c824e8f2eae93774549d" + "sha256": "d3aa760c336798a1235a2e118485bb2329a9ab37b4deb2d75c5ba5a5a515c837" } } diff --git a/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..5f667a4f1ad2bda2f5f1dc7ef96927f3218dae3f 100644 --- a/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000ic_165r/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:21", "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/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.packaging.bom.json index 9efdee1bc140992d951951dd74701f77ade9f529..ab9a8e1d0874c38b5a46e8bd593331ed25d1633f 100644 --- a/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_165r/.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/fanuc_r2000ic_165r/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000ic_165r/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49445, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "bd405ded42daf9b4667f1bcf934ff0cbe05d83ed2f7e0905bd86b52c5c55e35e", + "sha256": "c34c33ec1f207b9f74b91034c7fe4e36954748ce5f2657e5c1e7400d08e6c33d" } }, { @@ -18,14 +18,6 @@ "sha256": "4f4e0e0e0fd85259b9fd70a924ec25d729b36dd2a002a73e9d5bfba0c713da44" } }, - { - "relative_path": ".thumbs/r2000ic_165r.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": "21514bec4e26fca19c96788f37fbd98601c38f2b0d52723ac89b18f8962ff622", - "sha256": "c3fc7d0c73d0c43f658fe525132b29a2c50698ff0ca8ca549304bd48f4f2cf26" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 97953, + "size": 98089, "hash": { - "sha256-flat-1mb": "5ba2a2cc833992f506e0e1b5466707a4340bf805b87e5636b27dd4b6f1271b0d", - "sha256": "ab94161a979670e7957f77c26c92443ea5610c80ce9cebcfe24cd03dd6c3c4e0" + "sha256-flat-1mb": "c1187bf7e225c79374cd74f99d5aa684d0423ac66333e6d0056a7c83bf4ecf8d", + "sha256": "7ec76a6b901f9d342f897fdb137b99ddc48f319e01b8710bff2003deb3c448e0" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r2000ic_165r.usda", - "size": 15149, + "size": 80701, "hash": { - "sha256-flat-1mb": "297babc9fc9148fb07285da8ddef99c32a5d5e34ddf8459a0e258e997f909acd", - "sha256": "3ef9dcee6d92794f4b50230ffb99618395a2b264a18e0728cc85f5a0d4abd5be" + "sha256-flat-1mb": "2c0c4d78fbf09d0f239bc367e1008d6136baa5e01673ed97485d9eaa3333ecf3", + "sha256": "c63a475dae7a806e97d5be620e508b596352f5bee29ab79908505b9c6793aa58" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r2000ic_165r/.simready/validation.json b/fanuc_r2000ic_165r/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..a98f0eb22c04b77bcd9952f467eb35a897e74a5a 100644 --- a/fanuc_r2000ic_165r/.simready/validation.json +++ b/fanuc_r2000ic_165r/.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", + "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": false, + "status": "skipped", + "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": false, + "status": "skipped", + "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": 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a/fanuc_r2000ic_165r/.thumbs/r2000ic_165r.thumb.usd b/fanuc_r2000ic_165r/.thumbs/r2000ic_165r.thumb.usd deleted file mode 100644 index 9a904d7f57ace69fe641e45b2c7afefcb9837c27..0000000000000000000000000000000000000000 Binary files a/fanuc_r2000ic_165r/.thumbs/r2000ic_165r.thumb.usd and /dev/null differ diff --git a/fanuc_r2000ic_165r/com.nvidia.simready.packaging.json b/fanuc_r2000ic_165r/com.nvidia.simready.packaging.json index 8529e5e21dfdb86ec1dab43f3030c85280736e6a..52d73ec4fe038e0b6dfa6dc8ba1ccdc819476205 100644 --- a/fanuc_r2000ic_165r/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_165r/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_165r.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_165r.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "af0f41226cfcad97ac409f5c728f1f41a1a492c359e7b17e560827f596805f15" + "sha256": "e30e0597fadaa5e1fbaef07ba60b2a45e6cbb40ffebb89bff6fb9650f2983a75" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "afe46d4423f8f855a03c1293b76f696b37f32dacc9843804d67d10730032b4c2" + "sha256": "4e0032335c2a669fa613f21df839876dd517c2f39e2422d50e97d6cce86f331f" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "c86b842e8bfcfd7470ad772d4afe81f2280ff77a5cabccf933ba069aec590545" + "sha256": "d3aa760c336798a1235a2e118485bb2329a9ab37b4deb2d75c5ba5a5a515c837" }, "package_hash": { - "sha256": "8dc9794bdbd85160764921a8cc9cd97f8e39656d05c58b15d1e452f96ec75fc5" + "sha256": "35eccd0200ff3e2f8ef41613e7ddd78a3f7f8a0fa5fac3369ec05feaa3404def" } } diff --git a/fanuc_r2000ic_165r/payloads/materials.usda b/fanuc_r2000ic_165r/payloads/materials.usda index 59f60281d074be09b8d60ce3b8be3f57fd4c45f6..62346c511c8526550493cc5c26b035ecca0af3a9 100644 --- a/fanuc_r2000ic_165r/payloads/materials.usda +++ b/fanuc_r2000ic_165r/payloads/materials.usda @@ -16,7 +16,7 @@ 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" ) @@ -157,7 +157,7 @@ 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) @@ -178,7 +178,7 @@ 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" ) @@ -319,7 +319,7 @@ 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) @@ -340,7 +340,7 @@ 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" ) @@ -481,7 +481,7 @@ 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) @@ -502,7 +502,7 @@ 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" ) @@ -643,7 +643,7 @@ 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) @@ -664,7 +664,7 @@ 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" ) @@ -805,7 +805,7 @@ 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) @@ -826,7 +826,7 @@ 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" ) @@ -967,7 +967,7 @@ 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) @@ -988,7 +988,7 @@ 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" ) @@ -1129,7 +1129,7 @@ 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) @@ -1150,7 +1150,7 @@ 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" ) @@ -1291,7 +1291,7 @@ 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) @@ -1312,7 +1312,7 @@ 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" ) @@ -1453,7 +1453,7 @@ 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) @@ -1474,7 +1474,7 @@ 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" ) @@ -1615,7 +1615,7 @@ 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) @@ -1636,7 +1636,7 @@ 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" ) @@ -1777,7 +1777,7 @@ 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) @@ -1798,7 +1798,7 @@ 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" ) @@ -1939,7 +1939,7 @@ 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) @@ -1960,7 +1960,7 @@ 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" ) @@ -2101,7 +2101,7 @@ 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) @@ -2122,7 +2122,7 @@ 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" ) @@ -2263,7 +2263,7 @@ 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) @@ -2284,7 +2284,7 @@ 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" ) @@ -2425,7 +2425,7 @@ 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) @@ -2446,7 +2446,7 @@ 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" ) @@ -2587,7 +2587,7 @@ 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) @@ -2608,7 +2608,7 @@ 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" ) @@ -2749,7 +2749,7 @@ 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/fanuc_r2000ic_165r/r2000ic_165r.usda b/fanuc_r2000ic_165r/r2000ic_165r.usda index 06816f01d0ecae010eaba38cc30639d5d81adc1d..df7444d8eeb76b56f1a1254af4bee4439469eb4c 100644 --- a/fanuc_r2000ic_165r/r2000ic_165r.usda +++ b/fanuc_r2000ic_165r/r2000ic_165r.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 = 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/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 = 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/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/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 9f7b63290e592dae76b9e22d8f4a66cfa30bed97..734e10861d1ab3959764dfe8bfc1c3556b42c5cf 100644 --- a/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:19:01", + "timestamp": "2026-11-02T23:10:22", "assets": [ { "asset": "r2000ic_190s.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": "c66f7bae171d98e5ea7f4d613c15135af4a00ea68b67bf4b0cb12bdc638109fa" + "sha256": "95bff54e88b518b18a3c04510c8c3d98cb20d205ba342b6758f607a3bd92691f" } } diff --git a/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..ed3e64fae451477ea0fc8013ce9d81b819aabed6 100644 --- a/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000ic_190s/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:24", "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/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.packaging.bom.json index 2b5078d88fd4526732874cd779d6ac8860d96a7d..938432756155ebc2bc10f4031c51a82c1abeedb5 100644 --- a/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_190s/.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/fanuc_r2000ic_190s/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000ic_190s/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": "b12f13de435aed3d1b771c322e9bd2d1792c7faabac73c515eeb32c448ae7e8d" } }, - { - "relative_path": ".thumbs/r2000ic_190s.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": "4f586e9bf449ff160eeff8b6a7af55d5de828890d45fba14536dfdbb51e5b84c", - "sha256": "14d6da58a63138212664ee25a3969591b1f7837cfcfaab0c1aad1a436b6f5f9f" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 80406, + "size": 80518, "hash": { - "sha256-flat-1mb": "f795c28f3aefef987bcb3e82793f3b887caaff85e3a5e12932381259b5080e99", - "sha256": "6f8e88d516ff1dda6cdd08b4986ff7ecf768f56b2a0f7ec33edff382c6541889" + "sha256-flat-1mb": "fb707519f1357cbd696e434a914732505c4452cf5b0146dda534257172fef3f0", + "sha256": "c4bb14ca1aa9fb9385e99930209dbccc3dac08e36aab57e3485c4884eb49a2ef" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r2000ic_190s.usda", - "size": 15149, + "size": 80695, "hash": { - "sha256-flat-1mb": "10c8b482bea068bc4b0f5914020547b7fcac29270dde413514b47d35d147fe5e", - "sha256": "9986601da4af277cd7e17afe7c38579eff3415cd3e77d84dcc2c0570a4aaf8f1" + "sha256-flat-1mb": "0a17aafcaf9d60cc88dc072b48c9ff4f6521bfefe16b397adae03d7ad1a6b439", + "sha256": "fa320552a6f567e2bab4149ce980c1dff9ad655b2d144f3a1c9708bdcc1d3b6a" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r2000ic_190s/.simready/validation.json b/fanuc_r2000ic_190s/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_r2000ic_190s/.simready/validation.json +++ b/fanuc_r2000ic_190s/.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", + "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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"display_color_response": { + "passed": true, + "status": "pass", + "name": "display_color_response", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.5" + } + }, + "status": "pass" + }, + "isaac_sim_newton": { + "passed": true, + "tests": { + "display_color_response": { + "passed": true, + "status": "pass", + "name": "display_color_response", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.5" + } + }, + "status": "pass" + } + }, + "contract_id": "FET010_DisplayColor.OpenUSD.0-1-0", + "display_name": "Display Color", + "family": "FET010", + "runtime": "OpenUSD", + "source": true, + "foundations_contract": 2, + "profiles": [ 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"display_name": "Simulate Multi-Body Physics (Robot Newton)", + "family": "FET004", + "runtime": "RobotNewton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + } + } + } } } } diff --git a/fanuc_r2000ic_190s/.thumbs/r2000ic_190s.thumb.usd b/fanuc_r2000ic_190s/.thumbs/r2000ic_190s.thumb.usd deleted file mode 100644 index 6145d2042b902784b0cbc85205d5327a254072f7..0000000000000000000000000000000000000000 Binary files a/fanuc_r2000ic_190s/.thumbs/r2000ic_190s.thumb.usd and /dev/null differ diff --git a/fanuc_r2000ic_190s/com.nvidia.simready.packaging.json b/fanuc_r2000ic_190s/com.nvidia.simready.packaging.json index 425560d03a20d51a03338d3000500d21ed180b50..7a1ef67682fd7c85c85c7f4fa35d23055658970a 100644 --- a/fanuc_r2000ic_190s/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_190s/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_190s.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_190s.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "244ddfc7c3ddbc0ca5f3adc473783feacbf253325fb49444148f21517310d8eb" + "sha256": "6000333e88cf905fce391cf965805a90dcf766e0d6d02fa982943eb69f9728df" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "1151ecc398cde725dce9e0afb4140d6ea77c51c8175641a8fd5b3d180b408cb8" + "sha256": "0e5a68e7bbb19fcece8f8f2183bafd2c5534abd2c0f2c2fc1d6e25754a54ad35" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "65f5adc38e8c5bd09dbc6facb9964c30a8c05ad0bf411286422c110aed8f5527" + "sha256": "95bff54e88b518b18a3c04510c8c3d98cb20d205ba342b6758f607a3bd92691f" }, "package_hash": { - "sha256": "34d48e2bcb95351dfda93a6d79e6b302eae76b332b47906cdf76e3cfa64380ea" + "sha256": "ac8edda5d174cdc03d459e71a4e8398489244062508d87c70bef5d0357ab009b" } } diff --git a/fanuc_r2000ic_190s/payloads/materials.usda b/fanuc_r2000ic_190s/payloads/materials.usda index f0ab0b86def0dec46069d4334e78068652cf0e1b..58c31bcf447977aa9153888bda123a6343520cd9 100644 --- a/fanuc_r2000ic_190s/payloads/materials.usda +++ b/fanuc_r2000ic_190s/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -988,7 +988,7 @@ 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" ) @@ -1129,7 +1129,7 @@ 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) @@ -1147,7 +1147,7 @@ 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" ) @@ -1288,7 +1288,7 @@ 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) @@ -1309,7 +1309,7 @@ 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" ) @@ -1450,7 +1450,7 @@ 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) @@ -1471,7 +1471,7 @@ 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" ) @@ -1612,7 +1612,7 @@ 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) @@ -1633,7 +1633,7 @@ 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" ) @@ -1774,7 +1774,7 @@ 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) @@ -1795,7 +1795,7 @@ 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" ) @@ -1936,7 +1936,7 @@ 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) @@ -1957,7 +1957,7 @@ 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" ) @@ -2098,7 +2098,7 @@ 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) @@ -2119,7 +2119,7 @@ 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" ) @@ -2260,7 +2260,7 @@ 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/fanuc_r2000ic_190s/r2000ic_190s.usda b/fanuc_r2000ic_190s/r2000ic_190s.usda index 8e3b75f8dbf3dacd8463447e98d82699a232f80a..b3a0913b051015af47cb936de438b554c833b5bf 100644 --- a/fanuc_r2000ic_190s/r2000ic_190s.usda +++ b/fanuc_r2000ic_190s/r2000ic_190s.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/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 36bff8edb02d97621999aafc06f782643844b965..6f021fc6ebafb0a2ff436745be1edd2a575abe35 100644 --- a/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:19:03", + "timestamp": "2026-11-02T23:10:25", "assets": [ { "asset": "r2000ic_190u.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": "b5a0e92ca002d4d95221973c4c1eb80558d812d0acbb6064d5b87fec21dad87e" + "sha256": "f1126d3f0ddc4a54cc716583427b898665bdfd40f722de67d208bd39d77d6cfd" } } diff --git a/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..094b8b494f39085bd1f47a3544412320bd6855a1 100644 --- a/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000ic_190u/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:26", "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/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.packaging.bom.json index 634e37646973d22727ae109943f910a581d61c2c..710590f78c7fcd17efaf4da9ff65cd853d4ce641 100644 --- a/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_190u/.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/fanuc_r2000ic_190u/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000ic_190u/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": "150ee98c9cb1f2fc22cdcf8d7d606fdcab5ed353004d8a375552885aca4b8f12" } }, - { - "relative_path": ".thumbs/r2000ic_190u.thumb.usd", - "size": 6338, - "hash": { - "sha256-flat-1mb": 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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/fanuc_r2000ic_190u/.thumbs/r2000ic_190u.thumb.usd b/fanuc_r2000ic_190u/.thumbs/r2000ic_190u.thumb.usd deleted file mode 100644 index 2fdaabf45170578a61b95cabdf3ab87ed0a1b7e7..0000000000000000000000000000000000000000 Binary files a/fanuc_r2000ic_190u/.thumbs/r2000ic_190u.thumb.usd and /dev/null differ diff --git a/fanuc_r2000ic_190u/com.nvidia.simready.packaging.json b/fanuc_r2000ic_190u/com.nvidia.simready.packaging.json index 4dfb5ba4d5175bfaea488164feb98cb96c057465..c0b008db8fbe7ce2aae48335f483216cf2dc068d 100644 --- a/fanuc_r2000ic_190u/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_190u/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_190u.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_190u.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "8e86f6d0c6067c4c8b48541a915383506d9f8cd6cdca29717829d07c3e1967c0" + "sha256": "9b28a6cc4357721cc9565a403f6e5d8c50fa5e0704fb6a6222f4c67653998cc6" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "e5d6386505e32ec356472dc1425d640f08c67277a9e8b6a403f41a7c559394df" + "sha256": "de89265c3ac9b499abfbeb5a26b7fe56fd6cda27a2cc42d409f30c44ce2cb72f" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "c8038be3f1e593721242321307db09fb0f33f9fa321a848ec2cc575337b99bbc" + "sha256": "f1126d3f0ddc4a54cc716583427b898665bdfd40f722de67d208bd39d77d6cfd" }, "package_hash": { - "sha256": "28ae0834aa7c2ab7bdb1b9a0d2eaed130be81402bf82dc6a83538310b7d67cab" + "sha256": "8201ac9824bb1797bc817b89da6d761b2e9f568e21334cbc6cde2b1ec2ffca02" } } diff --git a/fanuc_r2000ic_190u/payloads/materials.usda b/fanuc_r2000ic_190u/payloads/materials.usda index 16c26455fb593d13c21048a259114ed8c077abb8..39e97e27e819dbbe2ca150013dc173e74adeeec4 100644 --- a/fanuc_r2000ic_190u/payloads/materials.usda +++ b/fanuc_r2000ic_190u/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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/fanuc_r2000ic_190u/r2000ic_190u.usda b/fanuc_r2000ic_190u/r2000ic_190u.usda index aff3f506ab046d5e1749a25a7df161157ff03efb..e261111eac073ab505f52da2d449fc42d1d61cf8 100644 --- a/fanuc_r2000ic_190u/r2000ic_190u.usda +++ b/fanuc_r2000ic_190u/r2000ic_190u.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/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 614e735ea06c02b09c38121e722530da4649e9be..f651dd531e9740fcd9bea6ccd5573cce28c19ded 100644 --- a/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,30 +2,26 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-10-26T18:19:05", + "timestamp": "2026-11-02T23:10:27", "assets": [ { "asset": "r2000ic_210f.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": "83d8d6c96f3564ca40f70d1fdf078f8ce58a9d3ab05bbdc7e11af2f0726731c5" + "sha256": "e8ac37c8d57de0f865ddbd1973159b02d4002da916c4b50553b6869b6c86e066" } } diff --git a/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..0d42a74b370c95203b4d16cc168f80167e61a6f1 100644 --- a/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000ic_210f/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:29", "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/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.packaging.bom.json index 6ded41e0df0f8f081c7ccbb3685a55e249340643..3ca268f2d960b9db0f0990d026cb08d55846b2ac 100644 --- a/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_210f/.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/fanuc_r2000ic_210f/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000ic_210f/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": "5207bb55178d993819f870fc0705913ba29b0aecb95b5f17042cfe8b942e965a" } }, - { - "relative_path": ".thumbs/r2000ic_210f.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": "6b5daecf815cd460c7e649ee410d67bfa8d5858814432fe1882c03367ea9e302", - "sha256": "6987c9a42a37d34a01b34ecb7311e56e84e0b59ca8c004fa237b39973ba26b1e" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 86384, + "size": 86504, "hash": { - "sha256-flat-1mb": "7a6adb802d0002303d487222101dab71bd4155da75c0c4c89155a379b521b8df", - "sha256": "3c7b352d7ad203023e41979c89cd782b8c28f2b2b0df5a325a2862cb8f5f0f85" + "sha256-flat-1mb": "2fcd8a131174c1edfe6f1d0148aeffbc9657d2103405e44c136547f3ecfc3170", + "sha256": "f4e7aee797e4779a4f84d165eeb1dda08799084991ecee0dfa2e4f0b01ae55a0" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r2000ic_210f.usda", - "size": 15147, + "size": 80693, "hash": { - "sha256-flat-1mb": "e0dea738d494d7fedbf901fa6212e1a94048e7d61451c339661f68c9a3cc49e2", - "sha256": "47b92636888a3d47a6493996e4b3f6b8c741ce79991db8c02dea702f058f93bb" + "sha256-flat-1mb": "c92822dd1fffd1c46e666e86634a8d52d704d52898793839c851319fe5e4355b", + "sha256": "dbdc8c66286713189018d97c8d4ea800ba090f3354126bceeded847a6a868af8" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r2000ic_210f/.simready/validation.json b/fanuc_r2000ic_210f/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_r2000ic_210f/.simready/validation.json +++ b/fanuc_r2000ic_210f/.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", + "version": "2.0.3" + }, + "normals_xz": { + "passed": true, + "status": 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"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/fanuc_r2000ic_210f/.thumbs/r2000ic_210f.thumb.usd b/fanuc_r2000ic_210f/.thumbs/r2000ic_210f.thumb.usd deleted file mode 100644 index 7e92b227a08b4fb0f42f6a62699dc248224c2a6f..0000000000000000000000000000000000000000 Binary files a/fanuc_r2000ic_210f/.thumbs/r2000ic_210f.thumb.usd and /dev/null differ diff --git a/fanuc_r2000ic_210f/com.nvidia.simready.packaging.json b/fanuc_r2000ic_210f/com.nvidia.simready.packaging.json index ae9b7da828c480c079b477cc94344ed34ec52b88..8a50206b9dd23d7062e38eb5c0243536020c9ce6 100644 --- a/fanuc_r2000ic_210f/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_210f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_210f.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_210f.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "1df3121e8b58ff78a2fa2708befd20516612a8c02d3da6c736b30c5b2c323f24" + "sha256": "a32a7889e7f30694ccaee513342969a5801be71b8e23553be991744c2a91c615" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "4f2f51fef46db8f50906e39eb7fe816024adc20daaa27e67814e2e7533f54bba" + "sha256": "c3a39cee194b3a616716d2950fba94cbf2196a621c4ce808184521ba1c900127" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "657b0eb258a1daaf58f16e801c27055172a1edf6dab644a501afb70011569ecf" + "sha256": "e8ac37c8d57de0f865ddbd1973159b02d4002da916c4b50553b6869b6c86e066" }, "package_hash": { - "sha256": "c9a1b67d96499320e45f7196cd46906f26ea84290ab9b81386965450ee16a771" + "sha256": "63b112d45b10e239b07c6ed1d80982dbf673a40156a13a11a38f269d92bc6480" } } diff --git a/fanuc_r2000ic_210f/payloads/materials.usda b/fanuc_r2000ic_210f/payloads/materials.usda index 319dbdf03b82d4602e87e6dded7961acff2e703f..9ebf7cd262ab3401c0e6874b7b599f46426c7ee3 100644 --- a/fanuc_r2000ic_210f/payloads/materials.usda +++ b/fanuc_r2000ic_210f/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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) @@ -2122,7 +2122,7 @@ 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" ) @@ -2263,7 +2263,7 @@ 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) @@ -2284,7 +2284,7 @@ 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" ) @@ -2425,7 +2425,7 @@ 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/fanuc_r2000ic_210f/r2000ic_210f.usda b/fanuc_r2000ic_210f/r2000ic_210f.usda index 2051cc540f62f219e6bc1fabc59637ac0cfa98fc..3e6fed342d97609fb4d913f32ef1bda80eac9ed7 100644 --- a/fanuc_r2000ic_210f/r2000ic_210f.usda +++ b/fanuc_r2000ic_210f/r2000ic_210f.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/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index ef8fd9a4c7bc6c9c765d70e8ea916735abe7c7be..adaf1e3bd583e7c8756f2fe2d4e75f75f2f7e99d 100644 --- a/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_210l/.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": "2026-10-26T18:19:08", + "timestamp": "2026-11-02T23:10:30", "assets": [ { "asset": "r2000ic_210l.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": "a99baf0b986012c3d45148d7b2e9580f7d2803e1f7fe454411e3334dcc6548ff" + "sha256": "252ca6fa2a0309f7e3b5b66845d1525f5da29f6a775d750d25d8d8c9f1175b3c" } } diff --git a/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..bde3d24a0a65a8feec3b9ac6bbb0709b19385b84 100644 --- a/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000ic_210l/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:32", "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/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.packaging.bom.json index 00038bb596bcd64023737bedb014415d6409c46e..4492db1595bf50ce34d7fc3d1a5290bd6ebf688e 100644 --- a/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_210l/.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/fanuc_r2000ic_210l/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000ic_210l/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": "96adf13290f1d3ca6e53a0df498f240b79c6e8f4bb5288f4706c974df1133eca" } }, - { - "relative_path": ".thumbs/r2000ic_210l.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": "c1800fdce3929fa4057129b7be733682945e6a5247dfcc4b038e5108d4433184", - "sha256": "2684e2d0d4222b44fb2b6c6e7b19ea11bc94b12365eaae9a97f3bf92de84224d" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 80854, + "size": 80966, "hash": { - "sha256-flat-1mb": "bacadf1d7e9002c633cdb7736fab724c52b00a6dab65d1e7ad4f504af6306d17", - "sha256": "4ed928cbb31a748af55922dbdba50c8117760d3d75303403211e868583a30b3a" + "sha256-flat-1mb": "07cb16a300f8d861d8b397c96152a8ae0f8b1e03b5c157e0f5524d777fec7d9a", + "sha256": "3940866b975320306156c2d83d8c5fc68ec36c451c8004476a6cf17581f22e36" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r2000ic_210l.usda", - "size": 15148, + "size": 80694, "hash": { - "sha256-flat-1mb": "b94ccc438715a4a9302cee22db451c893872800f9f7c44302e5b91bf67e2c947", - "sha256": "1082bf6b4fd6221bdc6a8532125381cc1866438037ed6c056798048f71a60eee" + "sha256-flat-1mb": "9cd06613fff0d4988f922c8f0cd38f455813e640e44b7394415c46bf442a7777", + "sha256": "d73f300441da014f506c4399ae1b61a28149ab36c7f1f54e1557326b45e79379" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r2000ic_210l/.simready/validation.json b/fanuc_r2000ic_210l/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_r2000ic_210l/.simready/validation.json +++ b/fanuc_r2000ic_210l/.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", + "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", + 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"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/fanuc_r2000ic_210l/.thumbs/r2000ic_210l.thumb.usd b/fanuc_r2000ic_210l/.thumbs/r2000ic_210l.thumb.usd deleted file mode 100644 index 81da8b6739515c6f4da9429d2c359922ecae863a..0000000000000000000000000000000000000000 Binary files a/fanuc_r2000ic_210l/.thumbs/r2000ic_210l.thumb.usd and /dev/null differ diff --git a/fanuc_r2000ic_210l/com.nvidia.simready.packaging.json b/fanuc_r2000ic_210l/com.nvidia.simready.packaging.json index 021666892de64ad45da5731068178f294b4731ed..20ccecf0644da6d252ba3021151354cfda988485 100644 --- a/fanuc_r2000ic_210l/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_210l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_210l.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_210l.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "8cd2c5a77c695c3a43d4d37f8dbf8a7d5f1dc1029f7fda4c53106dae66732780" + "sha256": "ae54fe58e532f170c8e44a72bf697fae43dbbaf083b1e4457870a1301efe040f" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "4858f6cc2d8bb48fd3d95799c466280a3a25b98aa218d37db871eb3d399e7364" + "sha256": "8119fccc62493417fa1be57396000b9a1b88c9733dea49508150aa13c23579c4" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "b61fc8cda39ad1163b2095ab7878d7def0ddef9585a64e5487f809cce55d4e72" + "sha256": "252ca6fa2a0309f7e3b5b66845d1525f5da29f6a775d750d25d8d8c9f1175b3c" }, "package_hash": { - "sha256": "389949aaf39568d864874b05cc65fb02c80b195671600cc29ca0f799cec1edd6" + "sha256": "d14902fdfe6bc4836ba2dcea148578cd14d0cb40946e74e98acdbb4882d7f9bb" } } diff --git a/fanuc_r2000ic_210l/payloads/materials.usda b/fanuc_r2000ic_210l/payloads/materials.usda index 740ba846fe3a7332bcf9a83bd44de3df744a4af7..f7a6f010c59a86f1688163ed79d91ba42bebeb4a 100644 --- a/fanuc_r2000ic_210l/payloads/materials.usda +++ b/fanuc_r2000ic_210l/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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) @@ -2125,7 +2125,7 @@ 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" ) @@ -2266,7 +2266,7 @@ 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/fanuc_r2000ic_210l/r2000ic_210l.usda b/fanuc_r2000ic_210l/r2000ic_210l.usda index 3e763d19b07849dac529ac444a7650567c19d3c8..36bc7b6acd41393218c0f9d4c9187c2271e01563 100644 --- a/fanuc_r2000ic_210l/r2000ic_210l.usda +++ b/fanuc_r2000ic_210l/r2000ic_210l.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/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index a37e542a649dc7e29b3b9d99c03cd1cd9aaf0c0b..772264c59bdd6d0bebf513e9c9683cd2bba959af 100644 --- a/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_210r/.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": "2026-10-26T18:19:10", + "timestamp": "2026-11-02T23:10:33", "assets": [ { "asset": "r2000ic_210r.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": "57d4eb4ace510f8df8b824884e0b1626bfe560d553a81bae734d5f7a8b748a4f" + "sha256": "d15f7bb89e175aa74e0d019f0fcf1008fbb6f68b5520a84736af002b23b1ab69" } } diff --git a/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..504d3774b9617fc760ed8d76c0b6c1af5fc5bded 100644 --- a/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000ic_210r/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:35", "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/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.packaging.bom.json index 32a883e1d425af56cd5b9501c51a5ccf64ecd1af..c0220a0115b61e1fadf79c4828a3d6aaef14bf3b 100644 --- a/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_210r/.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/fanuc_r2000ic_210r/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000ic_210r/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49445, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "bd405ded42daf9b4667f1bcf934ff0cbe05d83ed2f7e0905bd86b52c5c55e35e", + "sha256": "c34c33ec1f207b9f74b91034c7fe4e36954748ce5f2657e5c1e7400d08e6c33d" } }, { @@ -18,14 +18,6 @@ "sha256": "dfc805686b47771b3938678b88e65445b6f1212dc8bdaa0f53afce235f78c77c" } }, - { - "relative_path": ".thumbs/r2000ic_210r.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": "ee44a906c1863ace945dad210d6cecc47665c4076e08b9984d4addf3d63e238b", - "sha256": "f5c340fc4c60684574bb5c13ed99366f4968f26579fc8d6ad3aa540cd585059b" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 98145, + "size": 98281, "hash": { - "sha256-flat-1mb": "cbfb818d79d4cccc564aa08251cc02d48880e15806af7fba9b4a923fff017703", - "sha256": "d7e680faf6f7634ad2d1fa81ca59981317fb455031e920ab99780e2e92a96fa2" + "sha256-flat-1mb": "8cc9a16ca0be7f8301df3c694260249e592bb7591b64aac37e870b16072ec600", + "sha256": "657a746581548453bffedbed171cf590aa698b1b2b59ec377574185258a19cac" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r2000ic_210r.usda", - "size": 15149, + "size": 80701, "hash": { - "sha256-flat-1mb": "33dac1e302de897e712deb18e9c500b55e8324833125836e82698e6af312b94f", - "sha256": "243fe3aa7ed854982c64256b65db7e4659850609fc9bd5254d4238f9291c438d" + "sha256-flat-1mb": "57375a9173814adbc248b2af10fbff6e4080deee372dd4ffdbb5dcaebad805d0", + "sha256": "d1a190c2d291fdb786ac1cc927a54f35dd83303224955cff8b464cf90a6a0099" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r2000ic_210r/.simready/validation.json b/fanuc_r2000ic_210r/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..a98f0eb22c04b77bcd9952f467eb35a897e74a5a 100644 --- a/fanuc_r2000ic_210r/.simready/validation.json +++ b/fanuc_r2000ic_210r/.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", + "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": false, + "status": "skipped", + "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": false, + "status": "skipped", + "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": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.0" + } + }, + "status": "pass" + }, + "isaac_sim_newton": { + "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": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.0" + } + }, + "status": "pass" + } + }, + "contract_id": "FET006_Materials.MDL.0-2-0", + "display_name": "Materials (MDL)", + "family": "FET006", + "runtime": "MDL", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + 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a/fanuc_r2000ic_210r/com.nvidia.simready.packaging.json b/fanuc_r2000ic_210r/com.nvidia.simready.packaging.json index ed8790766eaff67cc87b19f1181da1e8d22b9ed0..d6f1bb4fae9e380ea0aebc68d1ab82b343a31afd 100644 --- a/fanuc_r2000ic_210r/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_210r/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_210r.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_210r.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "2d879138f119df45e6cd41b510b846c3909849bddfcfe12617a3399e5a834a10" + "sha256": "0780f08e372cfcdb3d5fbe4e40cf3ef22a059e21ad4ac969e55bd3be74d96bf4" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "dff610126540f6abb7c3dd8390483ba45c6076dbcb5313bf5c78d6e35600dced" + "sha256": "aeae6976358ae9290053510270f9c9a0ee3f8702a7864d8c88aafd55b1c664bd" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "8096ed110e47a663a3d528cc2259b50aef2b9c9212fb378132432ef2338ec2b3" + "sha256": "d15f7bb89e175aa74e0d019f0fcf1008fbb6f68b5520a84736af002b23b1ab69" }, "package_hash": { - "sha256": "6ed26fc9c4248cfd6f468e79f4d7119774c5a947422ff122dbade189fa92edcc" + "sha256": "54b513df0a4bd3891b21860cbd4ab9978b14a8dacd9f38e738d8d41ccdf2febf" } } diff --git a/fanuc_r2000ic_210r/payloads/materials.usda b/fanuc_r2000ic_210r/payloads/materials.usda index 6f383277baf5c84221941651a34a06ce17168db3..dc18c2a9a3eb8f5400948ae2f948b7c0560fb17a 100644 --- a/fanuc_r2000ic_210r/payloads/materials.usda +++ b/fanuc_r2000ic_210r/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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) @@ -2125,7 +2125,7 @@ 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" ) @@ -2266,7 +2266,7 @@ 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) @@ -2287,7 +2287,7 @@ 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" ) @@ -2428,7 +2428,7 @@ 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) @@ -2449,7 +2449,7 @@ 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" ) @@ -2590,7 +2590,7 @@ 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) @@ -2611,7 +2611,7 @@ 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" ) @@ -2752,7 +2752,7 @@ 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/fanuc_r2000ic_210r/r2000ic_210r.usda b/fanuc_r2000ic_210r/r2000ic_210r.usda index 4ad457c383e5303ff4db837a8688e4b6839fb175..536efe37fb7630e63eadc29a9e86046cb257595c 100644 --- a/fanuc_r2000ic_210r/r2000ic_210r.usda +++ b/fanuc_r2000ic_210r/r2000ic_210r.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 = 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/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 = 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/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/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index eb341577d6de7ae9d8b1c2b3291a8016a793da2a..111223937ca6addfe8fbfcecb39ca89c4607ee9d 100644 --- a/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_210we/.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": "2026-10-26T18:19:12", + "timestamp": "2026-11-02T23:10:35", "assets": [ { "asset": "r2000ic_210we.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": "c715613e0f9cf2c7386b5100e96e18be592cdfa532316b5430dd24b10363299e" + "sha256": "885eac3e4a9d75f8c37cd39f151607e47d1a104705128aa28ad9380c61a86250" } } diff --git a/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..d72ccbb3bb789eed589fcd517c7c6193594e62fd 100644 --- a/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000ic_210we/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:37", "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/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.packaging.bom.json index a6fd8e9f0a9450b23c14293104a849cd982fe3c0..ae2e8d0bc2a9c74436ff1134f4011647e0d9b994 100644 --- a/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_210we/.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/fanuc_r2000ic_210we/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000ic_210we/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": "00cec60026e8abbd3fda6aaf1237203ee882bf7e1979a0f1d404a5ab79449e9e" } }, - { - "relative_path": ".thumbs/r2000ic_210we.thumb.usd", - "size": 6130, - "hash": { - "sha256-flat-1mb": "cc693004924e362d7e3e4debc9be591d13c459a9e2684aef1323879e1540532b", - "sha256": "c78d3aedbc86db0b944155deab67674e57febf970497c38a68cac8c1808db789" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 34397, + "size": 34445, "hash": { - "sha256-flat-1mb": "d8498f3ba27a3b6548faac9f055b71a266fb3d50a603045726f4ffad31c7b49c", - "sha256": "569409f54ee1f37e4bf4cee6a8a7a8b2741393fa2427c38a85916f57b1f31647" + "sha256-flat-1mb": "a156f6586d17358abaeb30a2be769c0b73d0b15ef73d64eedc034015865cbc8c", + "sha256": "1c960a03953f0530ea926b37e9a400fc93a810decb56728d5b38c8c7ddcebf66" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r2000ic_210we.usda", - "size": 15156, + "size": 80702, "hash": { - "sha256-flat-1mb": "6ac83c4ba5ad5d55f595c5c535a32072f9ed26cb27ceff04ef1885684c59b037", - "sha256": "ee34b30158431f4b64f19f2043df376b52e4a5a29e998337234d21f24a34c5a5" + "sha256-flat-1mb": "05d1f84dad653942b5261f315d650883ed70a1d45b6e7befbd73c6647012f5ac", + "sha256": "5a7908f0ef1e201144b6bfff292d6870f6e9e978d01ed0cb6c59057997028498" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r2000ic_210we/.simready/validation.json b/fanuc_r2000ic_210we/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_r2000ic_210we/.simready/validation.json +++ b/fanuc_r2000ic_210we/.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": { 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"display_name": "Simulate Multi-Body Physics (Robot Newton)", + "family": "FET004", + "runtime": "RobotNewton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + } + } + } } } } diff --git a/fanuc_r2000ic_210we/.thumbs/r2000ic_210we.thumb.usd b/fanuc_r2000ic_210we/.thumbs/r2000ic_210we.thumb.usd deleted file mode 100644 index 1cbddcf43911a79a6c6daec25712c50c966a454b..0000000000000000000000000000000000000000 Binary files a/fanuc_r2000ic_210we/.thumbs/r2000ic_210we.thumb.usd and /dev/null differ diff --git a/fanuc_r2000ic_210we/com.nvidia.simready.packaging.json b/fanuc_r2000ic_210we/com.nvidia.simready.packaging.json index da7eb968bd43df20027376c92ba86481ec9ff838..acf7895a5afa8c720db41addc5e828c31b7d132b 100644 --- a/fanuc_r2000ic_210we/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_210we/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_210we.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_210we.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "a0c22cebcd6ae573deb6dfcbceb5e346d184b888b3f495f2b4879d5d09518e29" + "sha256": "551d5341233992cb6c25d8c829e554d69520281635b532b3cbd55ccdca9517b9" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "9bda9873c456324801c1f177fda66abd355e8822e83ce17708ee2903c9fa4de7" + "sha256": "4f95a3ed2c2dd2727cb74bc20e36245e131b900be298d82c46e1f6668c728134" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "38bbad2b6c2444a46b98bf65243d5897d2fb64f11093e19e549a9967675e3ac5" + "sha256": "885eac3e4a9d75f8c37cd39f151607e47d1a104705128aa28ad9380c61a86250" }, "package_hash": { - "sha256": "363acd85177720a8506d2f929f7047b338836c1e2e7d16160f5b1aba747c2b37" + "sha256": "43d9cbd526aff09602834b40f9bb5ac2fc1f4277e5687afc3e3566316197e7d3" } } diff --git a/fanuc_r2000ic_210we/payloads/materials.usda b/fanuc_r2000ic_210we/payloads/materials.usda index f172a7f4d0a7c3d682190ec98813b1bc2a07c32b..851bfb3e5d2bf4d5ec2ab2f5f08447b58b939873 100644 --- a/fanuc_r2000ic_210we/payloads/materials.usda +++ b/fanuc_r2000ic_210we/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) @@ -502,7 +502,7 @@ 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" ) @@ -643,7 +643,7 @@ 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) @@ -664,7 +664,7 @@ 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" ) @@ -805,7 +805,7 @@ 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) @@ -826,7 +826,7 @@ 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" ) @@ -967,7 +967,7 @@ 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/fanuc_r2000ic_210we/r2000ic_210we.usda b/fanuc_r2000ic_210we/r2000ic_210we.usda index b7bbf46140fa55f8b4a699756e97aabec7a33436..902fb42e0da746ac21b7220a6bfd597ab8815f8f 100644 --- a/fanuc_r2000ic_210we/r2000ic_210we.usda +++ b/fanuc_r2000ic_210we/r2000ic_210we.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/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index c14f3b1aac8e023c3aaa15fe5ea33e15d3d871a4..636c08ce4d08f1ba16584db1ee98f1cafff6149a 100644 --- a/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_220u/.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": "2026-10-26T18:19:14", + "timestamp": "2026-11-02T23:10:38", "assets": [ { "asset": "r2000ic_220u.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": "087a6670751426c0bcbbf92f5e8d835142d086b5b8f27a79c3ffd34146072cd4" + "sha256": "0b2b5c43580a53a3b3d693d8750bb9cd459a57f0c5df12d78a82d1f6e8b2d9f1" } } diff --git a/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..c0eac9aeb36034787552c01236cfcab37dd5ba8b 100644 --- a/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000ic_220u/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:40", "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/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.packaging.bom.json index a85b3d0969d995708ef58565e5bc1b30d7da860a..8248d3d3a3ba1ac2f1e4829688a5258dba78e8e1 100644 --- a/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_220u/.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/fanuc_r2000ic_220u/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000ic_220u/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": "5ea03d91f82cceb9b895f79038b4a38ab70d36346376ce417ef7212e8dda9d33" } }, - { - "relative_path": ".thumbs/r2000ic_220u.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": "826f0bd38586f416ca9a99cc425fa03ec6a3f785377a2e080fdbfc4c51d728a4", - "sha256": "4258d614828e8a98dcbce5312beee8c5b697858a6024a3490a750b25c5f94929" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 80801, + "size": 80913, "hash": { - "sha256-flat-1mb": "2562d48f2dbfe6770a09d3230a08c8c2c4b61f39a66080f4c1a9724130b498cb", - "sha256": "eb990c4ea90b6916c0f0ef482ceca602d3671ee873459d03b85f38a65fc24d6e" + "sha256-flat-1mb": "031dcb2e8b75e1631f997d6160c824338b9ce030da82238f68cb4703f9157d88", + "sha256": "cd72740f54321ddbcbdc7134be477027619b3f2c0a6742d252597eb86006a0b6" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r2000ic_220u.usda", - "size": 15148, + "size": 80694, "hash": { - "sha256-flat-1mb": "1cc265471d3b66456380bdc69e778110e2e27ae0514589d717328d9656ade7c8", - "sha256": "7a241fe7a87c5716f4bf2609d8ab579eb989793871b63dca6bb74f71bcb3cd76" + "sha256-flat-1mb": "52d7560575c6078c11ba7a608f5849de61e8a4a65e44cedc85d1d32c494c4887", + "sha256": "0830da8553e6092fa10c9a60caae3b7aab0b10fd7c4cc79d2ae55aed5b64c577" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r2000ic_220u/.simready/validation.json b/fanuc_r2000ic_220u/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_r2000ic_220u/.simready/validation.json +++ b/fanuc_r2000ic_220u/.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", + "version": "2.0.3" + }, + "normals_xz": { + "passed": true, + "status": 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"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/fanuc_r2000ic_220u/.thumbs/r2000ic_220u.thumb.usd b/fanuc_r2000ic_220u/.thumbs/r2000ic_220u.thumb.usd deleted file mode 100644 index 0f54c12af4dee4fa2b52eb4a5e21fdbe59b6a28d..0000000000000000000000000000000000000000 Binary files a/fanuc_r2000ic_220u/.thumbs/r2000ic_220u.thumb.usd and /dev/null differ diff --git a/fanuc_r2000ic_220u/com.nvidia.simready.packaging.json b/fanuc_r2000ic_220u/com.nvidia.simready.packaging.json index e0e159b1713b59b9ec1b52f5e6f6ffba60ce4037..2e13c988cce7badde91e229b5f78bf42abbc3a63 100644 --- a/fanuc_r2000ic_220u/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_220u/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_220u.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_220u.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "0f7380902da5bf59cd90a232771be8fc63d1c953b31627710a2d15becb37a16c" + "sha256": "c95cc5525122b5934c3376f6764f14910aadbff1e6ca1c3b4d7b446d2823a672" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "fd4be02bc8c8d93d57bf58303cd1b4262f0a1940ee3182a7ae4ef24992dd2d8d" + "sha256": "6b5b4c0780072fe66da16440311a9ce18949f7617244c22830a5ef8e4c51f74e" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "79def70b140eebd7ed9e40ccb97716857f9c4f3ecbfe1b7dcbf607e04d9b86c2" + "sha256": "0b2b5c43580a53a3b3d693d8750bb9cd459a57f0c5df12d78a82d1f6e8b2d9f1" }, "package_hash": { - "sha256": "fb446d1deaa29d5edc93efd44a48900a0e9a6444d775a0565f37c5c5231f7902" + "sha256": "24d664c28af844a7990d92810b66a27460a6ccc9aefb85de18686fcbaf35f226" } } diff --git a/fanuc_r2000ic_220u/payloads/materials.usda b/fanuc_r2000ic_220u/payloads/materials.usda index 678c4bdf971cba1248bf0bda02b382b2eeeb18b0..a23c3cbf2f457be43ff90e048717a5543045668b 100644 --- a/fanuc_r2000ic_220u/payloads/materials.usda +++ b/fanuc_r2000ic_220u/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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) @@ -2125,7 +2125,7 @@ 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" ) @@ -2266,7 +2266,7 @@ 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/fanuc_r2000ic_220u/r2000ic_220u.usda b/fanuc_r2000ic_220u/r2000ic_220u.usda index e831de8cf24fe284fa51df55a5262fa2ad40931e..51e0838467a8edd1c9ca13e675c0b777a23bfb30 100644 --- a/fanuc_r2000ic_220u/r2000ic_220u.usda +++ b/fanuc_r2000ic_220u/r2000ic_220u.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/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index a78689b429c5d51bd31198eeeae7e06fedf13644..ab657737fa4335f13f7a714adb5a4b5d01de4a72 100644 --- a/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_240f/.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": "2026-10-26T18:19:17", + "timestamp": "2026-11-02T23:10:41", "assets": [ { "asset": "r2000ic_240f.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": "8dc7ce7d81a632c958c6febfd5f97a0eea2ffd71c9e0234eeac501f2ab6667b3" + "sha256": "f9f42eb7804092bd3300203ca828f3679db5e467cc4492dd456c49a46efe6b02" } } diff --git a/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..95dc965aebe387b99a7303ea927c15f617b52107 100644 --- a/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000ic_240f/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:43", "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/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.packaging.bom.json index 250a7bf5cff3e140cdaf47dd6dfd869a85a41ba1..8c2c18efb7f406d48e15e62c3935ed64cecccb72 100644 --- a/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_240f/.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/fanuc_r2000ic_240f/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000ic_240f/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": "deca07363b017c3ba8b8690f1415cf53813d86645d1493f30b26d23a7de78779" } }, - { - "relative_path": ".thumbs/r2000ic_240f.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": "7be9f81877b48bf5d80461e7ed12e5daa24077130d742a2c724e05ea9aa803a7", - "sha256": "15ba4b2dd23c5329eded1a0035064913111b58913ba106703e12c3100101da8f" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 86573, + "size": 86693, "hash": { - "sha256-flat-1mb": "28fd5e8d2a07be502a801041518db6cd81ff58b8907b28a7913972026bfeec11", - "sha256": "88b4e84f47c285a4edb3cf155eea0b9a2efbbcb15e62b23874cc96fafc5d5779" + "sha256-flat-1mb": "c3e15b58c3c9b189c89bc306112331e51f4a1dfeafb0ef8ce2edef57ec447636", + "sha256": "4cfb92297a37d750739538c299c75e7cf9f296611541183d1bdf674a65066cd3" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r2000ic_240f.usda", - "size": 15147, + "size": 80693, "hash": { - "sha256-flat-1mb": "9a24a3031096c3fd40c997f052014b9e17217ba7c53cf74a17bb8aaa3e739cac", - "sha256": "b1de9a5f4a703225b9729f713fa701da57cc07f8d4eddcb8dbe1f56d92edb9a3" + "sha256-flat-1mb": "2bd869d27c6e227ac0171411cf52d7f4a964c489d5be03b70743b5d60c5d0528", + "sha256": "7c1f74d0eb65e0d2af0156de6cb9bb730e001277ad0237c77e0e580bd2a5a18e" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r2000ic_240f/.simready/validation.json b/fanuc_r2000ic_240f/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_r2000ic_240f/.simready/validation.json +++ b/fanuc_r2000ic_240f/.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", + "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", + 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"display_name": "Simulate Multi-Body Physics (Robot Newton)", + "family": "FET004", + "runtime": "RobotNewton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + } + } + } } } } diff --git a/fanuc_r2000ic_240f/.thumbs/r2000ic_240f.thumb.usd b/fanuc_r2000ic_240f/.thumbs/r2000ic_240f.thumb.usd deleted file mode 100644 index c9a62ce9ebcd5663f518fa522f402fbd4c7ff3fb..0000000000000000000000000000000000000000 Binary files a/fanuc_r2000ic_240f/.thumbs/r2000ic_240f.thumb.usd and /dev/null differ diff --git a/fanuc_r2000ic_240f/com.nvidia.simready.packaging.json b/fanuc_r2000ic_240f/com.nvidia.simready.packaging.json index 0dc8a9ed0539b750ae2302a6800b62fa579ab9ba..f18f7eda0b2003d96bc271ebccdddc82a70c8187 100644 --- a/fanuc_r2000ic_240f/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_240f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_240f.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_240f.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "e31718e4c11a0ac63681cdc8ec21e03cd763339e425c6575e8e1f68656f7d32e" + "sha256": "ec7dfd0fdb4bdfb63b5c09c2ffd7d96111bfeac72d242b8c4fdd6156c0e19f4e" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "516bddf6cb061773b48084531f90c973274f3343519dc29cdb7b276f8a15ac94" + "sha256": "9050714159635c8d930f25206dc9604610cabe18c879dbb03e1e5c0676eeaf9b" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "897a67385d209ca51163f3e2f7e58d7d295bc1dbc4d73a4ebc9025f6bfc14c6f" + "sha256": "f9f42eb7804092bd3300203ca828f3679db5e467cc4492dd456c49a46efe6b02" }, "package_hash": { - "sha256": "c650836035ccca87438bcf3265fa9eca41b27b2e59d8562cfe18c8268483696f" + "sha256": "7606200af7915587566b58bcb6129bd238447da00a41dfdd8cf99f0270d44f0a" } } diff --git a/fanuc_r2000ic_240f/payloads/materials.usda b/fanuc_r2000ic_240f/payloads/materials.usda index 6ad3e652b39e2e45559b6f21bf89e9d3197bd392..24092af617000e35d6e46a96be8e8922405fe4a9 100644 --- a/fanuc_r2000ic_240f/payloads/materials.usda +++ b/fanuc_r2000ic_240f/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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) @@ -2125,7 +2125,7 @@ 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" ) @@ -2266,7 +2266,7 @@ 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) @@ -2287,7 +2287,7 @@ 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" ) @@ -2428,7 +2428,7 @@ 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/fanuc_r2000ic_240f/r2000ic_240f.usda b/fanuc_r2000ic_240f/r2000ic_240f.usda index 014a3191567b9d14011d9a7705970a06c8d2febb..747b2d8d21d7c922d7727cef7c401b838379c190 100644 --- a/fanuc_r2000ic_240f/r2000ic_240f.usda +++ b/fanuc_r2000ic_240f/r2000ic_240f.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/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index a7d6cc566539bcbd2ffd98c2ba3e565624e47489..354620e35da5154cbf31bde1807ae08ebec268dd 100644 --- a/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_270f/.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": "2026-10-26T18:19:19", + "timestamp": "2026-11-02T23:10:44", "assets": [ { "asset": "r2000ic_270f.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": "1244a631d18b01202da59036fbf8ec7c8046f36eb139426bec6ca0b19bb95b58" + "sha256": "97412b8922f15de9b35060f7b1f3ea9b4f68e961509a941af15495c3f551a2a8" } } diff --git a/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..bb6c1bbe4393c502b527a1c5e945adebe7e24beb 100644 --- a/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000ic_270f/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:45", "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/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.packaging.bom.json index b3bfc3f8aa31685486b77de35369ab80d23227a9..79bb608eb40bceabb4ea4caae5643e90ba92c33b 100644 --- a/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_270f/.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/fanuc_r2000ic_270f/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000ic_270f/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": "528760c9f94f823004f32a513b2ee9682aee8abd569ea9cf0c96712687aa1331" } }, - { - "relative_path": ".thumbs/r2000ic_270f.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": "c5c4b104941fcc25a9a0da8341d0fbba267bbbad8e439f68f0eb052c731143bf", - "sha256": "3f5bcfffbc5b82414e2530a9b14ce0e56187351df03226cfcf0f322a1d6ce6eb" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 80845, + "size": 80957, "hash": { - "sha256-flat-1mb": "a33db851cc9ae47dbad75a0950b9b28ec24da8bea4c9d7f008011c61595b100d", - "sha256": "7f8eb093b9d950b0e5ea09b881c60275fe4f633c0e9e883df148f8cadbb0aac8" + "sha256-flat-1mb": "c6bb94a8fd9c27ec2cb6f9c31a4c625475abfa3da462f9a203d52226da359148", + "sha256": "d6ec0ffd5a844c0faceaff5add9f5a4d7c7fc23757845288bfa5d89473fc8c53" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r2000ic_270f.usda", - "size": 15148, + "size": 80694, "hash": { - "sha256-flat-1mb": "df5ad2da1d778a4dca5b63ab736fc474cf27d47afc0971d123d70d708e58a9a4", - "sha256": "9c6c356c6cdd9e86ad8e3a167373eadcfb636b533e875f485329f2378f3db38a" + "sha256-flat-1mb": "cc032f0fd5a6153992bfa528109ee9632f0d08439f5aaa419103612bb6957baf", + "sha256": "66a93555f35e0cafdc4d6de1822abdfc958ba860ea601ff827ff4b7fcc492bbe" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r2000ic_270f/.simready/validation.json b/fanuc_r2000ic_270f/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_r2000ic_270f/.simready/validation.json +++ b/fanuc_r2000ic_270f/.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", + "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": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.0" + } + }, + "status": "pass" + }, + "isaac_sim_newton": { + "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": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.0" + } + }, + "status": "pass" + } + }, + "contract_id": "FET006_Materials.MDL.0-2-0", + "display_name": "Materials (MDL)", + "family": "FET006", + "runtime": "MDL", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + 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a/fanuc_r2000ic_270f/com.nvidia.simready.packaging.json b/fanuc_r2000ic_270f/com.nvidia.simready.packaging.json index 7899ff85d7f650ad274b7753c1bd8e3ad3c1adb2..2c92a40e207ac9c016479de8eb293fb38ce04399 100644 --- a/fanuc_r2000ic_270f/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_270f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_270f.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_270f.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "7c7b9441c38dcb2b200e4e0c5637dd8b6a98b5586da02737f322770be453d262" + "sha256": "a78f5f377887d132805ac90fed3f66ba5ba0dae912fd098b363d0895552b1df3" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "df299ef3ba9991cbfa822a805ea0b3805c380d4463e89c1419f80a7333cfacb6" + "sha256": "76019a86fceb85af599948896ce12bdfb05d718ecb1a78cee95deb820c7feda4" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "595ce80454297f9ac237988cc552f6235b4a2097c6e4d432586c2c1d603189c4" + "sha256": "97412b8922f15de9b35060f7b1f3ea9b4f68e961509a941af15495c3f551a2a8" }, "package_hash": { - "sha256": "9b284507c8a6943c2ba42548519bb5a1f67accc30db8d9c586db6505009a9b58" + "sha256": "cda5a7f506b99f54a42d6da3c43417a79002c83dd47ccf5ff1f351faea5fdb65" } } diff --git a/fanuc_r2000ic_270f/payloads/materials.usda b/fanuc_r2000ic_270f/payloads/materials.usda index 358c41a664cda3560cbbee682a3161c87b255f9d..425516169dad691b3f2ed25f6181ecf98ed69763 100644 --- a/fanuc_r2000ic_270f/payloads/materials.usda +++ b/fanuc_r2000ic_270f/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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) @@ -2125,7 +2125,7 @@ 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" ) @@ -2266,7 +2266,7 @@ 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/fanuc_r2000ic_270f/r2000ic_270f.usda b/fanuc_r2000ic_270f/r2000ic_270f.usda index fbcd3f022c53f58d94533a31511115b4dd9a829a..d2bd55ecbbeb30eac189bba3bba21811b155055b 100644 --- a/fanuc_r2000ic_270f/r2000ic_270f.usda +++ b/fanuc_r2000ic_270f/r2000ic_270f.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/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 2dd2369a6181d52b6f1a57f616a4c867c4f6d6ba..56217af29ec6222038717a9bc463e067c30db86f 100644 --- a/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_270r/.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": "2026-10-26T18:19:21", + "timestamp": "2026-11-02T23:10:46", "assets": [ { "asset": "r2000ic_270r.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": "cd485b0d9d211b91c50c65a24446edd4e1e5fb8c9df661ca9313b993ef91dc1f" + "sha256": "cbb6410ae54a46edb74ab2e798bc400f1a7aded741c3fceb8fdfc475b16e8892" } } diff --git a/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..eb33ab86597154a8b20fe28dcf800694a5a2aae0 100644 --- a/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000ic_270r/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:48", "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/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.packaging.bom.json index ffec64c7d556260a829bd1e9fa756dc1c2787601..f02ba6b799d627f17d81af63fdc2406fbd3d21f5 100644 --- a/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_270r/.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/fanuc_r2000ic_270r/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000ic_270r/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49445, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "bd405ded42daf9b4667f1bcf934ff0cbe05d83ed2f7e0905bd86b52c5c55e35e", + "sha256": "c34c33ec1f207b9f74b91034c7fe4e36954748ce5f2657e5c1e7400d08e6c33d" } }, { @@ -18,14 +18,6 @@ "sha256": "280eb599ad04e096cc4558acb496f694bd2bb0a5be00deb64a2c6e055dd90036" } }, - { - "relative_path": ".thumbs/r2000ic_270r.thumb.usd", - "size": 6129, - "hash": { - "sha256-flat-1mb": 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"display_name": "Simulate Multi-Body Physics (Robot Newton)", + "family": "FET004", + "runtime": "RobotNewton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + } + } + } } } } diff --git a/fanuc_r2000ic_270r/.thumbs/r2000ic_270r.thumb.usd b/fanuc_r2000ic_270r/.thumbs/r2000ic_270r.thumb.usd deleted file mode 100644 index 6a146ecea6d44650b1dd7e03085578a17f64b97d..0000000000000000000000000000000000000000 Binary files a/fanuc_r2000ic_270r/.thumbs/r2000ic_270r.thumb.usd and /dev/null differ diff --git a/fanuc_r2000ic_270r/com.nvidia.simready.packaging.json b/fanuc_r2000ic_270r/com.nvidia.simready.packaging.json index b4fd47817fb4520d493de3e64dfa75b11702581f..b85d5929d8be8a0e008d6ff174b05134e810eb78 100644 --- a/fanuc_r2000ic_270r/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_270r/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_270r.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_270r.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "b2d4459e5a4e3ce33749f78f9e628257a48eb334af4b960bb45efea84caa53f0" + "sha256": "9ea300580bf9914fe4f003ad9cc79122cc11c4896144f4026fd3e028715c23b0" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "c0b8168bbfedfb44d80de1353e7af6e1a1784753c734827aa5d3ee162cf1d385" + "sha256": "c4cea88145196f39466a69138b081df2ccc59a3549dbcf8461ebefd5d3e755a0" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "af8ae39c99c669fadb8095b4b30453f0704aef5733d37c433209b7e5425edd02" + "sha256": "cbb6410ae54a46edb74ab2e798bc400f1a7aded741c3fceb8fdfc475b16e8892" }, "package_hash": { - "sha256": "e526d265281ce70b260c85072cd3410a1c9670de52be4dcb8995effd19808407" + "sha256": "47bcba90500d455d1dbbbfad2c0ca3db6e566acde2c6e871f820f3b0e8603f79" } } diff --git a/fanuc_r2000ic_270r/payloads/materials.usda b/fanuc_r2000ic_270r/payloads/materials.usda index b36cb322c604c9bace5ee7da0573fda155465e9e..090730ca61db529e8e340cbfcbc551da88a92c4f 100644 --- a/fanuc_r2000ic_270r/payloads/materials.usda +++ b/fanuc_r2000ic_270r/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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) @@ -2125,7 +2125,7 @@ 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" ) @@ -2266,7 +2266,7 @@ 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) @@ -2287,7 +2287,7 @@ 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" ) @@ -2428,7 +2428,7 @@ 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/fanuc_r2000ic_270r/r2000ic_270r.usda b/fanuc_r2000ic_270r/r2000ic_270r.usda index 9c9c956914437001ae5640c46a4e34f66e78119c..fa26e64a8723e0afc58633fbcebcb6f88c4fcb27 100644 --- a/fanuc_r2000ic_270r/r2000ic_270r.usda +++ b/fanuc_r2000ic_270r/r2000ic_270r.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 = 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/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 = 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/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/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 427e8b35bd14ff41ce7d8e6ce27475347a4c69c7..cae4c6e629f805d399cea73662cafc188ad812f4 100644 --- a/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000id_100fh/.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": "2026-10-26T18:19:23", + "timestamp": "2026-11-02T23:10:49", "assets": [ { "asset": "r2000id_100fh.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": "6c007873ebf889837984c335d3987ffd770ab4985b6589b5ae1fe2c4d723f2d8" + "sha256": "234bb061a93db2072e206d63b16b4217e9f76e426ad692db342d6022eb9a4ee7" } } diff --git a/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..d4b6c37ce16f74be80f525c598be41624275d881 100644 --- a/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000id_100fh/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:51", "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/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.packaging.bom.json index abc55ef81a3391a65cb2339a81d0c92588dbd6ea..efc46d263c886c8117224ab1aa96f431b60ce665 100644 --- a/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000id_100fh/.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/fanuc_r2000id_100fh/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000id_100fh/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": "a61b960e5d2b165dff6c92f857bf5fdfeee1700b5d62ab2c2e14c174eb938524" } }, - { - "relative_path": ".thumbs/r2000id_100fh.thumb.usd", - "size": 6130, - "hash": { - "sha256-flat-1mb": "e0e881ed0e0c8601ee6bda1ee66190f8ddcd3266925821c25fc8271100a7cbf2", - "sha256": "105f2e949681fa8f04fe1795cdcf18970ce888ae95e1501ce6a431a23af91f3a" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 86549, + "size": 86669, "hash": { - "sha256-flat-1mb": "c3ecef265c3b9c47ef1f09a629143d6b559bae64842e6bce3c8cba494d141444", - "sha256": "21d19daae5c249f02a22138b96f356085bcd2755081a774819516902b8665a37" + "sha256-flat-1mb": "fbbe45320343990eee8aee1e2fc9cd0413981a2b34038df40d005df67b33b445", + "sha256": "263651b16df534e099f28e4e74ad7f0d915f4da59376c13342ce6f59580ae6d7" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r2000id_100fh.usda", - "size": 15160, + "size": 80706, "hash": { - "sha256-flat-1mb": "26e8d958f2aa064b9799b056ace46a8b3787d2e3c25a367499144167401a3ee1", - "sha256": "8a31467d6d6a2bec35300e975959aaeb9a991eed2f5a10d3b87527c547bc190f" + "sha256-flat-1mb": "f5b9e249c9ffb5a8221b22227218dd92803f26b5ff9d5deccbf4344e7072d61e", + "sha256": "6e5876a91e9ff2c77447d9b6fe5fd82cb8a0252b3e55e32e6f75bd1ad88536ad" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r2000id_100fh/.simready/validation.json b/fanuc_r2000id_100fh/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_r2000id_100fh/.simready/validation.json +++ b/fanuc_r2000id_100fh/.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": 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"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": 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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/fanuc_r2000id_100fh/.thumbs/r2000id_100fh.thumb.usd b/fanuc_r2000id_100fh/.thumbs/r2000id_100fh.thumb.usd deleted file mode 100644 index 7396df15d50c352ce558954007d4afb26819044e..0000000000000000000000000000000000000000 Binary files a/fanuc_r2000id_100fh/.thumbs/r2000id_100fh.thumb.usd and /dev/null differ diff --git a/fanuc_r2000id_100fh/com.nvidia.simready.packaging.json b/fanuc_r2000id_100fh/com.nvidia.simready.packaging.json index e4456ddebca4b1e1ff1e820807d69eef093d2a7d..2daf69457c434ff203d86a4b2eb7be035cfd1986 100644 --- a/fanuc_r2000id_100fh/com.nvidia.simready.packaging.json +++ b/fanuc_r2000id_100fh/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000id_100fh.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000id_100fh.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "de37768ac6978a653275e5dfa5e4ca24b9eb581713b838c95795b0d639d3990d" + "sha256": "e7b6c2b671a013fbadf1b9f5ce815c994587c3cd134b7c92867ab7f11a73db7f" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "c68b592ccbc0a4efce2e5cc09da72e5745e87a1e5bfce740dd03fdaea47d57db" + "sha256": "5b6547b05d5d01efe324dbc84766c09cc0001ebd3ba73835334f1e5f82c8e0a1" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "e40ad0467bed05183b10c2e32d37eb4e708b51d24c23569e41a61698c76dab94" + "sha256": "234bb061a93db2072e206d63b16b4217e9f76e426ad692db342d6022eb9a4ee7" }, "package_hash": { - "sha256": "a44883f600360a92bbce5cc2ef1b53c0359328e3493465644023ecd3f83aa413" + "sha256": "3f5d76768496a3bb14113b6f7744918a33104f2f83b0f8a92d5027fc3fa57375" } } diff --git a/fanuc_r2000id_100fh/payloads/materials.usda b/fanuc_r2000id_100fh/payloads/materials.usda index d482d52316c890e6ba4135c7819094a9d57019f9..ef2fe43e1b7214107e85207fb75d0a2e5d31b593 100644 --- a/fanuc_r2000id_100fh/payloads/materials.usda +++ b/fanuc_r2000id_100fh/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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) @@ -2125,7 +2125,7 @@ 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" ) @@ -2266,7 +2266,7 @@ 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) @@ -2287,7 +2287,7 @@ 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" ) @@ -2428,7 +2428,7 @@ 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/fanuc_r2000id_100fh/r2000id_100fh.usda b/fanuc_r2000id_100fh/r2000id_100fh.usda index 7dab9e1176edc699ccfb889af771cd3e78c464d5..12c1030c5f0fcecf5694c4d29ac9af041bda2e9e 100644 --- a/fanuc_r2000id_100fh/r2000id_100fh.usda +++ b/fanuc_r2000id_100fh/r2000id_100fh.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/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index a3e5a293be85c71991b4a329521f0a47c06892f7..03a60a6f004e8c5d7fe533c66c2114fae6b6f6b9 100644 --- a/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000id_165fh/.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": "2026-10-26T18:19:25", + "timestamp": "2026-11-02T23:10:52", "assets": [ { "asset": "r2000id_165fh.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": "1f4c5513aa726f1f26f5d418c9d0926fc19c6fa07ff05a56052f7bd5ac46bc92" + "sha256": "6b88a4d5d6ce8c1d7974560b12f3a09e6b04b0ee8e0f6460a2dbb332c063343b" } } diff --git a/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..54168b58c2757ee075ef6871010ebec7ef7d4229 100644 --- a/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000id_165fh/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:54", "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/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.packaging.bom.json index 3f04fe0287ebe0736369ac8f44f9d05e4e6ed10e..9e3e539911911004d59fc12e0c5083fb9ca143b4 100644 --- a/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000id_165fh/.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/fanuc_r2000id_165fh/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000id_165fh/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": "e9bea9495351fdc36ff7311f20140b90d7494b1aa081f2be2f82fd25e0ead134" } }, - { - "relative_path": ".thumbs/r2000id_165fh.thumb.usd", - "size": 6130, - "hash": { - "sha256-flat-1mb": "e7fae37d6c36c08f5f04bcc0902095d1441aa16c1018d2b03e6a47c961c982ab", - "sha256": "7deba7e6fd575be06c8c4a24c0fd2967017e13e7f985f2393ea3edba451fb23a" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 92427, + "size": 92555, "hash": { - "sha256-flat-1mb": "1309012cc7ce21fe1cdc0d5d6812cf124ca49b159be636256a2b387b1cfaacd0", - "sha256": "d0d9a9b23a305e99b59a981d833c8936875dbb6628ad6a492b04102e0ea2b5e4" + "sha256-flat-1mb": "aa9673d271844776773d616281dfa079a2b6d5c9fd88948b495935a386e3c072", + "sha256": "bd0d0d9539a9ca3d2e871299ba5a74d44ee81e116d7498ff74be296fdafb9da2" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r2000id_165fh.usda", - "size": 15160, + "size": 80706, "hash": { - "sha256-flat-1mb": "5afceaafbde633a50cc08ddb690274670c858ea8e67d435f55d20353a0353f66", - "sha256": "3de88a3790d82c88ccde36f61028e9afeeffab13d5007a04311c241c5c21e23a" + "sha256-flat-1mb": "abaae38ee09e2e3539e9472382f4919b9183efe5e81bebe1ece3f2752ed23c92", + "sha256": "0a392c041691139cb7bf9300edb537bc5161e48604e735ca7e39fb77f32dc9fa" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r2000id_165fh/.simready/validation.json b/fanuc_r2000id_165fh/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_r2000id_165fh/.simready/validation.json +++ b/fanuc_r2000id_165fh/.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", + "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" + }, + 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"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/fanuc_r2000id_165fh/.thumbs/r2000id_165fh.thumb.usd b/fanuc_r2000id_165fh/.thumbs/r2000id_165fh.thumb.usd deleted file mode 100644 index b31e2de055d72719eaace28350a6f15a5cdffbf5..0000000000000000000000000000000000000000 Binary files a/fanuc_r2000id_165fh/.thumbs/r2000id_165fh.thumb.usd and /dev/null differ diff --git a/fanuc_r2000id_165fh/com.nvidia.simready.packaging.json b/fanuc_r2000id_165fh/com.nvidia.simready.packaging.json index a7504784a77510ee4ccb4bc31114bb05c5a68f6f..499caf6b61b7c9e0e870455495be6657fa38b383 100644 --- a/fanuc_r2000id_165fh/com.nvidia.simready.packaging.json +++ b/fanuc_r2000id_165fh/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000id_165fh.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000id_165fh.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "f432c0c4dc4fbbe751bc0f87c88d92991a489e5d86975e9c1e6821ce5a29edfd" + "sha256": "d79a8691e444c13c8e3816adf7fe3ec68b3a91eff56d1fc138c3b214a0d6d8de" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "fb1bc4faecc9b555c1fa603b667c443b283f209eb9e0789fec47944baf15b9cc" + "sha256": "eb694221202a1683ae42a4267aea971e2062f0454289e8342a886474544482d7" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "ab7ea696c9f957b6c7c3139a7a02a7731e226f5fd7224a370870cd058e6e9b2f" + "sha256": "6b88a4d5d6ce8c1d7974560b12f3a09e6b04b0ee8e0f6460a2dbb332c063343b" }, "package_hash": { - "sha256": "88380e27938087b5c18b9fe6e4a2bc1b51643e03e2bd63a83f153e91c51e2cfb" + "sha256": "1f5be4f56a247a365ef22e727109f0f00677aae0b773b545121cdaea8db1a39f" } } diff --git a/fanuc_r2000id_165fh/payloads/materials.usda b/fanuc_r2000id_165fh/payloads/materials.usda index 84aa060c8ed771bff9b86b6c5a446f8b8f84d1ea..d49da3f2c46d089242b22582a623d62bd73c230e 100644 --- a/fanuc_r2000id_165fh/payloads/materials.usda +++ b/fanuc_r2000id_165fh/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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) @@ -2125,7 +2125,7 @@ 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" ) @@ -2266,7 +2266,7 @@ 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) @@ -2287,7 +2287,7 @@ 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" ) @@ -2428,7 +2428,7 @@ 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) @@ -2449,7 +2449,7 @@ 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" ) @@ -2590,7 +2590,7 @@ 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/fanuc_r2000id_165fh/r2000id_165fh.usda b/fanuc_r2000id_165fh/r2000id_165fh.usda index 28d1b9e726396b2329bcc1634c108144a7ff5293..667df81fe3533596d24cb749e2e985800d98e722 100644 --- a/fanuc_r2000id_165fh/r2000id_165fh.usda +++ b/fanuc_r2000id_165fh/r2000id_165fh.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/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 8f1770461d955c84fb67da0e4efc852a46fe1e71..dca5591de54a83467e6f5cccf55208e4baf343a3 100644 --- a/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000id_210fh/.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": "2026-10-26T18:19:27", + "timestamp": "2026-11-02T23:10:55", "assets": [ { "asset": "r2000id_210fh.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": "75af8a3fffffde202fa7fca37d2638aef180418906243932aee4d4e84de93301" + "sha256": "326c58d1355b0723be3c61f275c003081af64948e130ca7c8f10301f370e2ef0" } } diff --git a/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..55260b4facdf009659727961aab4734d38a0588e 100644 --- a/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_r2000id_210fh/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:56", "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/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.packaging.bom.json index 9373083f186422516cee0521deda992d5c1baf70..579cf1d0488daadb0704722e2a4a33b4d0790474 100644 --- a/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000id_210fh/.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/fanuc_r2000id_210fh/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_r2000id_210fh/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": "acc30fbaf1419e80ec548090e618ca81aad85101ac47df7f4c1f6a245bfeb286" } }, - { - "relative_path": ".thumbs/r2000id_210fh.thumb.usd", - "size": 6130, - "hash": { - "sha256-flat-1mb": "10d45cff5eec6cf74418c7c640c284392467558c74a7f59a8fffd5bdbab656ca", - "sha256": "11b00d765a85f5e3952d355bca01b3762153a993ef73c39adc2a7c16e50aef22" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 92433, + "size": 92561, "hash": { - "sha256-flat-1mb": "e0ef961dfcc63be3acef9f6177fcf461d87d48e3ef128b5d89ce6577780e99d1", - "sha256": "ba4c980dc0fd5e2941f708f6d093dba12c7d89bef62de9d9747f430257400de0" + "sha256-flat-1mb": "4764bac5b9a3a57e17b278472ec17300a73f25c8d573678279ea0a9deda628e9", + "sha256": "7108292f17fca26a9b47d005c9c68defe17c6d2e6e3217b221a26ac3484164a8" } }, { @@ -173,10 +165,10 @@ }, { "relative_path": "r2000id_210fh.usda", - "size": 15160, + "size": 80706, "hash": { - "sha256-flat-1mb": "8ecc376c347dacf140dbc4c65511bca76b0f7136c42346e65d02130d16bce162", - "sha256": "5f8a1e0445a0f40e8d45d6add18901b337acc7f58939f612c63720d2821a5799" + "sha256-flat-1mb": "c64236b032d9df99bcc4003e40adb805d785fdfd50a1e880ad42e631e4d0211e", + "sha256": "b5c98322a53a927cf26029b2375c8a503d8f3f5e02f3a4ca1818c9f8648930b0" } }, { @@ -204,4 +196,4 @@ } } ] -} +} \ No newline at end of file diff --git a/fanuc_r2000id_210fh/.simready/validation.json b/fanuc_r2000id_210fh/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_r2000id_210fh/.simready/validation.json +++ b/fanuc_r2000id_210fh/.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", + "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", + 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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/fanuc_r2000id_210fh/.thumbs/r2000id_210fh.thumb.usd b/fanuc_r2000id_210fh/.thumbs/r2000id_210fh.thumb.usd deleted file mode 100644 index 0bd3f7c06c0f52e4cf5a0dde1af2ccf36f60f85b..0000000000000000000000000000000000000000 Binary files a/fanuc_r2000id_210fh/.thumbs/r2000id_210fh.thumb.usd and /dev/null differ diff --git a/fanuc_r2000id_210fh/com.nvidia.simready.packaging.json b/fanuc_r2000id_210fh/com.nvidia.simready.packaging.json index 6df1e7c01aa802a2f2763c9a7fbe5ade8bd86f7d..ff09572a268e3323137f31f48a26c5ca50ca81c0 100644 --- a/fanuc_r2000id_210fh/com.nvidia.simready.packaging.json +++ b/fanuc_r2000id_210fh/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000id_210fh.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000id_210fh.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "6b913a6594883332fbf0610d88cf67a9456dd13a66db8dcfe8c652c721b1797a" + "sha256": "d07ad1f4f9cbdb8967ed491142badc5c31d763d7330c3e9d0a7c83aef9fd9666" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "6aff6798b4d3910307e23775ef8d1fc40817c6ff2273d31c54a9481f7c6397fe" + "sha256": "aee65c2ad6c02fd5c9f688127440a09b9b0be319b32459bfeef566000caae91b" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "65695fdb2c2ef4778cc04f5ac02ee2c8ac4a36a5948646d91aff91b7e5f5c6dd" + "sha256": "326c58d1355b0723be3c61f275c003081af64948e130ca7c8f10301f370e2ef0" }, "package_hash": { - "sha256": "289ddfb13f9f017ca4bcc62adc29e71fae4ae384ffab457bfa7b85bd0c3fd1f6" + "sha256": "a4f0e159747ec17fefa6f1367e1a4cddca8a21ec8afc8e8c064046b0358541b5" } } diff --git a/fanuc_r2000id_210fh/payloads/materials.usda b/fanuc_r2000id_210fh/payloads/materials.usda index c11a5804bef82ae529f32789dde00f1917688e11..bf9f589ee4e36329d222379398d8cdb4b14d583d 100644 --- a/fanuc_r2000id_210fh/payloads/materials.usda +++ b/fanuc_r2000id_210fh/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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) @@ -2125,7 +2125,7 @@ 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" ) @@ -2266,7 +2266,7 @@ 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) @@ -2287,7 +2287,7 @@ 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" ) @@ -2428,7 +2428,7 @@ 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) @@ -2449,7 +2449,7 @@ 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" ) @@ -2590,7 +2590,7 @@ 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/fanuc_r2000id_210fh/r2000id_210fh.usda b/fanuc_r2000id_210fh/r2000id_210fh.usda index 8ba8ce379beda8c64dac0cf65d170dd9da7f28cd..e34a087ea5615d7d56dd2308f6627d7e36f508c6 100644 --- a/fanuc_r2000id_210fh/r2000id_210fh.usda +++ b/fanuc_r2000id_210fh/r2000id_210fh.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/fanuc_sr12ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr12ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index e562421ed3a9744386eafc94a9926d29738012e4..680649673a3e43a658d5183ef0d8bc6067f37586 100644 --- a/fanuc_sr12ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr12ia/.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": "2026-10-26T18:19:30", + "timestamp": "2026-11-02T23:10:57", "assets": [ { "asset": "sr12ia.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": "3c8d44217edbc15da4d51f67fe1b85a1a46593f4a4b5236e2b992ed2ef37fb06" + "sha256": "578002cdab125e1a43003f0de140d05e7814c70b7d1aa49e05833c6f698dfeca" } } diff --git a/fanuc_sr12ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_sr12ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..641ef4e45ca4980236f61076a6cc3117a51d5bc0 100644 --- a/fanuc_sr12ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_sr12ia/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:10:59", "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/fanuc_sr12ia/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr12ia/.metadata/com.nvidia.simready.packaging.bom.json index f85787de6f42b5a1dbc4352f8e122d8763a2e544..a9a1434d672963f05eb4a687e583ab36a4cf6d18 100644 --- a/fanuc_sr12ia/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr12ia/.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/fanuc_sr12ia/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_sr12ia/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": "1622e029c650bb922c60721ce669a47822f66d882d5f1e7da4b705a333c59ca1" } }, - { - "relative_path": ".thumbs/sr12ia.thumb.usd", - "size": 6123, - "hash": { - "sha256-flat-1mb": "48c297645d4c1a078ad2f353de4543fa168b273963ce68b94d72bc2b7ba30328", - "sha256": "022a518185ac7cc647c789113a34ffadbb343a0db2d511ed39bc29558d3b2dd9" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 75050, + "size": 75154, "hash": { - "sha256-flat-1mb": "b2ffeef1eb71a32f3127703af0a16e6e5ae078ed7c5ae22a5cfc2b313443c441", - "sha256": "d2a3aa426b421ae1460bce8110cd1c9c2aeabfb57d319749314556e86e4dd87d" + "sha256-flat-1mb": "4c1cb23c84976cf32b4bb18ef1764d23858c2365cb565accff509f6272ed6a67", + "sha256": "82e3da1283786f0f497cdfe5f15856987468f6de8fe4a0ee673a497acf466439" } }, { @@ -197,11 +189,11 @@ }, { "relative_path": "sr12ia.usda", - "size": 15606, + "size": 81152, "hash": { - "sha256-flat-1mb": "492f01ac9827fa5f284757735fc3ee48ba013c751b38c918451b4af26bedac74", - "sha256": "bd3882ce9912814530e12b8083da77fc166f426774b1c209c82772e6ef03741c" + "sha256-flat-1mb": "3060e1fc36f063a686470f6be8fb515f41a62ccd4542b0969413e4006a68a1e6", + "sha256": "1ca1bf676808a31666f32595d8a9213858a60bd0ea4b18ea9f1ec3084906288b" } } ] -} +} \ No newline at end of file diff --git a/fanuc_sr12ia/.simready/validation.json b/fanuc_sr12ia/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_sr12ia/.simready/validation.json +++ b/fanuc_sr12ia/.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", + "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": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.0" + } + }, + "status": "pass" + }, + "isaac_sim_newton": { + "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": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.0" + } + }, + "status": "pass" + } + }, + "contract_id": "FET006_Materials.MDL.0-2-0", + "display_name": "Materials (MDL)", + "family": "FET006", + "runtime": "MDL", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + 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b/fanuc_sr12ia/com.nvidia.simready.packaging.json index 1092c03704af788fee6927a624867e2886cb2c45..7ed8e4ed0405e3d6e0d1714519eceb41670b11ff 100644 --- a/fanuc_sr12ia/com.nvidia.simready.packaging.json +++ b/fanuc_sr12ia/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr12ia.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr12ia.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "3dca44f3900b29082cf219b1a1bb530ad32763401b946c640ea2c6da7aa69f77" + "sha256": "4f9554e147ef996c39c1067f255df7f8815bbf200303a39bae752980e37bebe7" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "18ba9539fc4daf6571c68c37632a9bd9b3bc59a04c7003e8e68443001d14b514" + "sha256": "14669ddb1b497bdf070d77f36974859c327f2dfb3c33de7d838f9c2dd91ac7ef" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "6215b027dd63803bb7d5eff874130c81ac72033079365096647d150c08d0763e" + "sha256": "578002cdab125e1a43003f0de140d05e7814c70b7d1aa49e05833c6f698dfeca" }, "package_hash": { - "sha256": "e9317f7592b16278cf4b86d8d166150757f10b35a2e49faf2315e51712f2a8d8" + "sha256": "e3e96986bcb0dc0e3b381daa3375993254d400538632940ae52d8211942b293e" } } diff --git a/fanuc_sr12ia/payloads/materials.usda b/fanuc_sr12ia/payloads/materials.usda index 859df62dc9891971ab01b59fa5eebfbfc89b13b7..035c1a46e296b5d22e5db5057489d76846114b63 100644 --- a/fanuc_sr12ia/payloads/materials.usda +++ b/fanuc_sr12ia/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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/fanuc_sr12ia/sr12ia.usda b/fanuc_sr12ia/sr12ia.usda index 664de884d4177504b16bd5be7fe3509f200ef1f9..08492ee845f56ac8d7ce1a93b00ab883e328a747 100644 --- a/fanuc_sr12ia/sr12ia.usda +++ b/fanuc_sr12ia/sr12ia.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/fanuc_sr12iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr12iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index d80aa4c6f85711c919c2544aa52efce8f6048107..3bf629c56e5e565b18f907dd6799b307208cee7d 100644 --- a/fanuc_sr12iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr12iac/.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": "2026-10-26T18:19:32", + "timestamp": "2026-11-02T23:11:00", "assets": [ { "asset": "sr12iac.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": "bd44ac71536830c742e55a37df301c404e8555344bc8028c650cc2e666de34c0" + "sha256": "4d80a2451d04c9a37b0cc87e77f180080970640e5b30f0752f0564f3a5beb459" } } diff --git a/fanuc_sr12iac/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_sr12iac/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..a517102ba67f3c39d757150ac26443b64735f628 100644 --- a/fanuc_sr12iac/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_sr12iac/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:11:02", "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/fanuc_sr12iac/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr12iac/.metadata/com.nvidia.simready.packaging.bom.json index 68ef6ec087b24e54e2b385c6a7fc7a9745fe23e2..04363f97c4a94c98fdebc541aa24aceb775c330e 100644 --- a/fanuc_sr12iac/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr12iac/.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/fanuc_sr12iac/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_sr12iac/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": "67d0c85b78012b7d5625c92efafe9e3b4ac3a2b8d903d3fcb2f647d87b4f58a4" } }, - { - "relative_path": ".thumbs/sr12iac.thumb.usd", - "size": 6124, - "hash": { - "sha256-flat-1mb": "dc2472fc676b646a1c05bc461ac05dad80c577afdd7c69914bdac36423a3a27b", - "sha256": "ebf77bc70673ed38ae88c192cf562987e4b4050fc92c59a16d1d9141d7582e96" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 40665, + "size": 40721, "hash": { - "sha256-flat-1mb": "31a0588ef9d7f417883e427d5e1ff353231417fbbcbc93d8beb3bb505b0e03df", - "sha256": "b8d381b9516895c6631d29af80d20a11275bcca9be4102fd5ed7c374f5b35e8d" + "sha256-flat-1mb": "204413183db6bd5551233c8a61c33de9804ec6b26d7f7adcdc6f50fe88e0ff10", + "sha256": "0ca0ce16687b6eb49659e35f1d8543edadbf8380d08a0d527ca41f713e6159d4" } }, { @@ -197,11 +189,11 @@ }, { "relative_path": "sr12iac.usda", - "size": 15757, + "size": 81303, "hash": { - "sha256-flat-1mb": "6297d70baf7d14e7a7f19cfe3ce44c7dce21ae53bc876ee04eb8fc429529a6f0", - "sha256": "60c52392b80727d4ecac9eab905d2f69e49848000d0cf22b47d28bccb5cfba8a" + "sha256-flat-1mb": "2483a5ad270841bf14604c0d8d1213816fe4485b61fe3d117873c613573d544c", + "sha256": "8581bee32b301574ad169011791ae889d302bec87d720ba3c02918919950517e" } } ] -} +} \ No newline at end of file diff --git a/fanuc_sr12iac/.simready/validation.json b/fanuc_sr12iac/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_sr12iac/.simready/validation.json +++ b/fanuc_sr12iac/.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": { + 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"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/fanuc_sr12iac/.thumbs/sr12iac.thumb.usd b/fanuc_sr12iac/.thumbs/sr12iac.thumb.usd deleted file mode 100644 index 37c193d18161401b75d9f47ef7697d3f9ee24fb5..0000000000000000000000000000000000000000 Binary files a/fanuc_sr12iac/.thumbs/sr12iac.thumb.usd and /dev/null differ diff --git a/fanuc_sr12iac/com.nvidia.simready.packaging.json b/fanuc_sr12iac/com.nvidia.simready.packaging.json index bf4f297e560c31dc882c791feb03754716ed083a..d1614386c77c11831032f4a32cd4e7e44d8c2d27 100644 --- a/fanuc_sr12iac/com.nvidia.simready.packaging.json +++ b/fanuc_sr12iac/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr12iac.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr12iac.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "807e383cce4bb35b5462b913b0f7c88d0f01faddb54dacc48924e0214354d14f" + "sha256": "d6c377f9573fb3a0167fb533c10f2477440997d7faef072d992b35f7ffa2f213" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "c99d2fbf397402084882236165309fb9a0988eab9abde060665ac64254655f91" + "sha256": "d274e8a76b0ea5e60b8d12befa52a8bedc79bdf073175c65e748cfa7bdc28294" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "b3e93070f860b364010830d057acd88a43a30bbd41524ab032c98204a65b424f" + "sha256": "4d80a2451d04c9a37b0cc87e77f180080970640e5b30f0752f0564f3a5beb459" }, "package_hash": { - "sha256": "481f5c2486d9e0eaba94b1d755adc155e42f515928302e2570c2678545cf0dc0" + "sha256": "fd52db88b3135c0ca919a7e22344233891cdc2704682ed5eb8d38b3e845ac82a" } } diff --git a/fanuc_sr12iac/payloads/materials.usda b/fanuc_sr12iac/payloads/materials.usda index f6669c833da3051dd1d8668a67fc89bc3f79e566..e3c6e5b97de4350d7cf722ae39c1813ad627b9c0 100644 --- a/fanuc_sr12iac/payloads/materials.usda +++ b/fanuc_sr12iac/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" ) @@ -161,7 +161,7 @@ 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) @@ -182,7 +182,7 @@ 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" ) @@ -323,7 +323,7 @@ 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) @@ -344,7 +344,7 @@ 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" ) @@ -485,7 +485,7 @@ 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) @@ -506,7 +506,7 @@ 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) @@ -831,7 +831,7 @@ 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" ) @@ -972,7 +972,7 @@ 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) @@ -993,7 +993,7 @@ 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" ) @@ -1135,7 +1135,7 @@ 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/fanuc_sr12iac/sr12iac.usda b/fanuc_sr12iac/sr12iac.usda index 065272ed69861d337d22a213de22d21f585d6be8..1a9bb25f3641d87dc37ecd2210c8e80839a2e1a9 100644 --- a/fanuc_sr12iac/sr12iac.usda +++ b/fanuc_sr12iac/sr12iac.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/fanuc_sr20ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr20ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 32c0d38a17b71398e11ee959146ee150bf4d0e04..edb056a136155aaeb84b63d248cc54ac37081dfb 100644 --- a/fanuc_sr20ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr20ia/.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": "2026-10-26T18:19:34", + "timestamp": "2026-11-02T23:11:03", "assets": [ { "asset": "sr20ia.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": "f507fca426963d17fd11981272af9cd0e8ffca7a9d40e988e494985203ed7b76" + "sha256": "83f30f31d746d472ba5987784f7f21c47b617d8cb6ff407c8d59c9dbcae773b6" } } diff --git a/fanuc_sr20ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_sr20ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..56c2e226e4d996ca07ea2a81d41b72923810d1e6 100644 --- a/fanuc_sr20ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_sr20ia/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:11:04", "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/fanuc_sr20ia/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr20ia/.metadata/com.nvidia.simready.packaging.bom.json index 1d6f632d94f25eac300dff0a0a2a98c879951ab8..1e06856091be3cb41981ea6991d4a546ecbe9ffd 100644 --- a/fanuc_sr20ia/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr20ia/.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/fanuc_sr20ia/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_sr20ia/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": "13beaf1fc17e496b96b5dbcbc41463f2e3de6770e6a6e492fc81882c6f54e6af" } }, - { - "relative_path": ".thumbs/sr20ia.thumb.usd", - "size": 6123, - "hash": { - "sha256-flat-1mb": "6a62fc6d8ce88187c31afb37ebd8b55619e5d322b09bd012b3a4eaaf0f42eca9", - "sha256": "61eeb520cebf069546a7a0c6ca87902a1622f4d54bb8f57b5bd69cac5f08a20f" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 75054, + "size": 75158, "hash": { - "sha256-flat-1mb": "d5135b79be8830021211f9898407ec44e7d455ff7278ebc3a193fb915b4b0206", - "sha256": "c326465ece150168a88e48c08f7c167a8d4051ab5d9e86d7c6acc1a354b5c07e" + "sha256-flat-1mb": "75ca840766373313334274f6f137da2cd7c88cea16def8fedae1bc7380735036", + "sha256": "b194549c0ee48633905008b3c50f29333778dc88b076349adbc9986e95ab0962" } }, { @@ -197,11 +189,11 @@ }, { "relative_path": "sr20ia.usda", - "size": 15606, + "size": 81152, "hash": { - "sha256-flat-1mb": "6c23a99bb28a727877e663224d85b6b93b7d6cec44e4772caf4d122d0c6738ec", - "sha256": "7ee4243570b4098603f7fdeecdb223c610c4be2c236a4084a0986b55590f6158" + "sha256-flat-1mb": "6d4de642c84b33e6743809e1cca3a2c7a4b4c12494fd40224df641d282e161e7", + "sha256": "ad5d769828fadec76ff82ca1e956b0d38f37405a849ec3298160ddc9fe329a09" } } ] -} +} \ No newline at end of file diff --git a/fanuc_sr20ia/.simready/validation.json b/fanuc_sr20ia/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_sr20ia/.simready/validation.json +++ b/fanuc_sr20ia/.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", + "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": 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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/fanuc_sr20ia/.thumbs/sr20ia.thumb.usd b/fanuc_sr20ia/.thumbs/sr20ia.thumb.usd deleted file mode 100644 index bc34b67fd9e84c08a2d54be583505f09d2f2a748..0000000000000000000000000000000000000000 Binary files a/fanuc_sr20ia/.thumbs/sr20ia.thumb.usd and /dev/null differ diff --git a/fanuc_sr20ia/com.nvidia.simready.packaging.json b/fanuc_sr20ia/com.nvidia.simready.packaging.json index fead20232cd3b204f657a952967b8b144013c2fd..f175d50e7c2fbaf28033ce5c091dd31120151abb 100644 --- a/fanuc_sr20ia/com.nvidia.simready.packaging.json +++ b/fanuc_sr20ia/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr20ia.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr20ia.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "3a53aa0977d910c18c2a29718d9ebb5a225f288a6451ab045930ce112e3f7572" + "sha256": "a7ac9590c76fe7a6a7e4278abdb11fda10741037ac3b826db84d551c2a861e3f" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "568498867695f9e2e0e92d01a1f8c7ed00e4bba83ebeff78635e312618dc8769" + "sha256": "b666dcb113847b059eb8b69a760d1ecf768a5aaf296fb2908af87b21e62ae46b" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "691ee831e55692668d42d79302646962af308ed2f27e3fe72a88932eb16d0145" + "sha256": "83f30f31d746d472ba5987784f7f21c47b617d8cb6ff407c8d59c9dbcae773b6" }, "package_hash": { - "sha256": "d03c522a2d7df7a7cad7bff5b4fbd905f7f22d7d91f6f18e6d60382a36f1cac1" + "sha256": "5352443fff7313c65b5e2a5b71f715ad34ad5244d06a9bda710fdd20f8eafce5" } } diff --git a/fanuc_sr20ia/payloads/materials.usda b/fanuc_sr20ia/payloads/materials.usda index 07aefbfeef8dd659bd61f0e21f87065ed78c9c5f..fc33de5111142bb4e019d808eb41229bea99a3b7 100644 --- a/fanuc_sr20ia/payloads/materials.usda +++ b/fanuc_sr20ia/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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/fanuc_sr20ia/sr20ia.usda b/fanuc_sr20ia/sr20ia.usda index b2a1517ccb24a1baf66e903d149ec8a6224956a4..a6f1fed088ed8c10f2c5c43b63fea50485db6b40 100644 --- a/fanuc_sr20ia/sr20ia.usda +++ b/fanuc_sr20ia/sr20ia.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/fanuc_sr3ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr3ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 02da7ff036876677adb696447576ad8c73982e35..37b563d8382800c29e2bb95584a68e0815149195 100644 --- a/fanuc_sr3ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr3ia/.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": "2026-10-26T18:19:36", + "timestamp": "2026-11-02T23:11:05", "assets": [ { "asset": "sr3ia.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": "2d64aeaf31747fcc0f373107120988b32c40c6e90048c72892103db49101b343" + "sha256": "e71622b41fa26d548709bbe9c56a74419561c05fb5df841793635f3f2e7dfe0c" } } diff --git a/fanuc_sr3ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_sr3ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..1de5cbd2dd91b386ee33ef429d116badda17c133 100644 --- a/fanuc_sr3ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_sr3ia/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:11:07", "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/fanuc_sr3ia/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr3ia/.metadata/com.nvidia.simready.packaging.bom.json index a4d35c2e8570a8189cd50855dc408a181371934a..275d8aaffb42e5ef24943bf68feb333dbd20b96a 100644 --- a/fanuc_sr3ia/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr3ia/.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/fanuc_sr3ia/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_sr3ia/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": "60975b848be561769712a85164e6d9d5b78d242297e06f34c51bf28208d8bb05" } }, - { - "relative_path": ".thumbs/sr3ia.thumb.usd", - "size": 6122, - "hash": { - "sha256-flat-1mb": "df877b71c6f4064c9af594308f3539b3407e2dfb2389b956df34461fab3b61eb", - "sha256": "26afe00d7799ffa9eed561a5fe7680ad7662258e30875926ecf92076b4348d3f" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 46322, + "size": 46386, "hash": { - "sha256-flat-1mb": "44e957cad87371b4775fa6945eacfa05801583163899cb8e703eea793bfbe63f", - "sha256": "88032409c6e3d72802d0565192e607dbfec8038f978508b35d2557c7a18644e5" + "sha256-flat-1mb": "b8172cce0f8782ca3957aaa1d9f3a04eb04e4cb8199e8b827c9c425f990567ae", + "sha256": "e75d5f5a7effacb14aa0ac5c82947fd2069f4a7d5ae1c7c91e2d82f733368716" } }, { @@ -197,11 +189,11 @@ }, { "relative_path": "sr3ia.usda", - "size": 15598, + "size": 81144, "hash": { - "sha256-flat-1mb": "08ba0665ff7ea223cab4c4f4202459f7ede04aa2d0e656ac4b59efc66a63c6a5", - "sha256": "8bce987abbe935b381215a391861c21511046e4692883147e406126c14cfc4d4" + "sha256-flat-1mb": "36860867a7bd941e66f9679217ba860c3a11e1eec01293417dbaf1111a6ac933", + "sha256": "42365ee61db1c6c5167fe96d9cfffe750eb0ec58a7fe188fac2d24423cb630ff" } } ] -} +} \ No newline at end of file diff --git a/fanuc_sr3ia/.simready/validation.json b/fanuc_sr3ia/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_sr3ia/.simready/validation.json +++ b/fanuc_sr3ia/.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", + "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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"display_name": "Simulate Multi-Body Physics (Robot Newton)", + "family": "FET004", + "runtime": "RobotNewton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + } + } + } } } } diff --git a/fanuc_sr3ia/.thumbs/sr3ia.thumb.usd b/fanuc_sr3ia/.thumbs/sr3ia.thumb.usd deleted file mode 100644 index da6855c35f902978431c4b5ff60491555ee0a26f..0000000000000000000000000000000000000000 Binary files a/fanuc_sr3ia/.thumbs/sr3ia.thumb.usd and /dev/null differ diff --git a/fanuc_sr3ia/com.nvidia.simready.packaging.json b/fanuc_sr3ia/com.nvidia.simready.packaging.json index 588bd4f4ab61464956df7d9a1a6a8b0f051566c5..6a402f36c6f002c4031e546ae6e48794b704db24 100644 --- a/fanuc_sr3ia/com.nvidia.simready.packaging.json +++ b/fanuc_sr3ia/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr3ia.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr3ia.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "af5eb8699b7e4ab675cafbb3b1609a89c885813b60ffa24b040ac0f1e905d390" + "sha256": "03df93980b88456af8715289cdea4e993fa457595db977ad91e355fa445cedf5" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "2f510160346148811d7a323f21818df40f2edbeeaf1185aadd38b5b6a6acc178" + "sha256": "a5835ae452c2f5ad0ca74ea168b236630f5945b9d7a8774f2538a595ca90aec2" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "c6fd1ff031c85bc1029187c49f7f9cf0105424db512900c99d0b648b265ea9b0" + "sha256": "e71622b41fa26d548709bbe9c56a74419561c05fb5df841793635f3f2e7dfe0c" }, "package_hash": { - "sha256": "acd53a1c402d6e2bce3507f771e04d1f8f09e6fc9ce352326a447892a43c452d" + "sha256": "fbfe5082770bbf4c327ad34646aa5e5a13ee3b767a47f2e892589b6dd3b730b6" } } diff --git a/fanuc_sr3ia/payloads/materials.usda b/fanuc_sr3ia/payloads/materials.usda index c75fd0ba48c1b0c284b19d8856d9fff086910493..6a3159211b04b8b97594b44c16cad0fec86721bf 100644 --- a/fanuc_sr3ia/payloads/materials.usda +++ b/fanuc_sr3ia/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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/fanuc_sr3ia/sr3ia.usda b/fanuc_sr3ia/sr3ia.usda index c04acffe3397e10d45171683f8bca10ee0f17ba1..15e8acbff3e9cde8785a05de5670d94f8deee59d 100644 --- a/fanuc_sr3ia/sr3ia.usda +++ b/fanuc_sr3ia/sr3ia.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/fanuc_sr3iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr3iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index beaf87872b2a6d1b6fe54bd6e3a9cc01131ac83f..c043aed4d703be3bda23ab13eed1e0cb866a1fec 100644 --- a/fanuc_sr3iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr3iac/.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": "2026-10-26T18:19:39", + "timestamp": "2026-11-02T23:11:08", "assets": [ { "asset": "sr3iac.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": "7760ea3de8e1770f5fde292fa4d0c3f84954ea313bc333f4a063c86612d9caa9" + "sha256": "300ace8b122d94ca37d52d2eab84fb1b26829a92b0563c47cef0488a269602ea" } } diff --git a/fanuc_sr3iac/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_sr3iac/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..f22408e5243f83c39ac421c568a2a52fe02b16e6 100644 --- a/fanuc_sr3iac/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_sr3iac/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:11:10", "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/fanuc_sr3iac/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr3iac/.metadata/com.nvidia.simready.packaging.bom.json index cee72842b4115db02b853afe7ce7d116ea2e200d..0506bd0ab540ac33b8079bcb034607431aa79c36 100644 --- a/fanuc_sr3iac/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr3iac/.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/fanuc_sr3iac/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_sr3iac/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": "4e6b94e78d4deb92400b6aea6d46cf8bde502aba33d7ed74039a80a229ef9bf5" } }, - { - "relative_path": ".thumbs/sr3iac.thumb.usd", - "size": 6123, - "hash": { - "sha256-flat-1mb": "4495441ecc879c126bab1f902ba04c04546013682ee16395bf2f0c07655a7b22", - "sha256": "5f4d33dc5136095d5db72aa6b91f65bc2a0534f83b7b78e6642c8571e345410d" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -100,10 +92,10 @@ }, { "relative_path": "payloads/Physics/physics.usda", - "size": 8833, + "size": 8853, "hash": { - "sha256-flat-1mb": "36de534dfb9a499b32e9eb08a371c1ed709af0926c62ee56db76108627a3536d", - "sha256": "902fc32526123b55456f269fd19e91e8e8af759a07462494b0a7172fb960828a" + "sha256-flat-1mb": "d565d276fa5c0b421fd4e3f561d3f86c82e541e74737f49c8ab71f65dc097b04", + "sha256": "e1447156a78e7d9ad381788c9f7759933a8e9a8910f3bc1fc8b81088612bb4a9" } }, { @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 110085, + "size": 110237, "hash": { - "sha256-flat-1mb": "239e341151c24fcbe07dbc0fd86b4bcd8563e68e086cabd00326a478c823fab1", - "sha256": "ae0efba6faef573c5c3c8b2e298b1ec5c0c48c0c3a48735624a59be354c91f64" + "sha256-flat-1mb": "506cdb80dca96765007dc7afaf9651c395a0351a544ed21fc1d92e6c68135bd6", + "sha256": "e9b5616ccc9c86e12655a2f7dec3e614865540895b9d7f6f56f614cec5995628" } }, { @@ -189,19 +181,19 @@ }, { "relative_path": "runnables/physics/physx.usda", - "size": 2774, + "size": 2681, "hash": { - "sha256-flat-1mb": "4f429ab542581c2c0a9e8ee2a859a9924418be833db0b63836b975dcb2ad7d12", - "sha256": "bf739787787d5d458303bf9097dfd256a3a683958af484e01e4157cdcc4937ab" + "sha256-flat-1mb": "e73a638a59f8a17bb6d28235799f0eeb29c8e50623ba629c144335e55b98dad7", + "sha256": "3fd97d6d3f68506f0328488c49718de3e7f72c6250541d86615eb036406ee22c" } }, { "relative_path": "sr3iac.usda", - "size": 15608, + "size": 81154, "hash": { - "sha256-flat-1mb": "e9861cd4ea59721b122c1576fe6a9d55c37f483921c6159c3d808e934fc8fedb", - "sha256": 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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/fanuc_sr3iac/.thumbs/sr3iac.thumb.usd b/fanuc_sr3iac/.thumbs/sr3iac.thumb.usd deleted file mode 100644 index f0c2a6ebe04d7fb95f9463353756bc0eb43b08d9..0000000000000000000000000000000000000000 Binary files a/fanuc_sr3iac/.thumbs/sr3iac.thumb.usd and /dev/null differ diff --git a/fanuc_sr3iac/com.nvidia.simready.packaging.json b/fanuc_sr3iac/com.nvidia.simready.packaging.json index 59b4d55d8e1bcf450b41bab9a55cc685dc221c65..8138b35f99bf6194ad3f82280283c0c34a402a0e 100644 --- a/fanuc_sr3iac/com.nvidia.simready.packaging.json +++ b/fanuc_sr3iac/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr3iac.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr3iac.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "aaf9a9cf0644adae2c79021669a62c0ef72fca0576e7411c1f5b931a75163953" + "sha256": "39c11589346f7eee5dba25e8eddb182d9eb72aa410d561f998575e3b90e233de" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "3922254297124008b31fbe23ac3f2162eebf583bf7f89e8413fd18a83227d565" + "sha256": "266d4b13bbb3c08dd5ef95c692a36c9424956e3fb90da7c29c85ae581409bffb" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "35844400c70d0de196bcaa4c9f51da167ef427053af6989171cc550b5cea8d19" + "sha256": "300ace8b122d94ca37d52d2eab84fb1b26829a92b0563c47cef0488a269602ea" }, "package_hash": { - "sha256": "4080fa405ed97f2e18ce97098b0c758a80ccddd9e40e5e1efe39b86d79eaae33" + "sha256": "eaa19eabc2959208faa50ad91994af2098f11fd58c6ee0bdf66075b90dfb61cb" } } diff --git a/fanuc_sr3iac/payloads/Physics/physics.usda b/fanuc_sr3iac/payloads/Physics/physics.usda index 0b8bcf48ba07ea4ae3377e90e7d8afc04029dce9..815f3801df661287fc1ad3953ab6a3517f3f977c 100644 --- a/fanuc_sr3iac/payloads/Physics/physics.usda +++ b/fanuc_sr3iac/payloads/Physics/physics.usda @@ -15,8 +15,6 @@ over "sr3iac" prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { - float state:angular:physics:position = -5.878432e-11 - float state:angular:physics:velocity = 0 float drive:angular:physics:damping = 1000 float drive:angular:physics:maxForce = 300 float drive:angular:physics:stiffness = 25000 @@ -34,14 +32,14 @@ over "sr3iac" quatf physics:localRot1 = (1, 0, 0, 0) float physics:lowerLimit = -142 float physics:upperLimit = 142 + float state:angular:physics:position = -5.878432e-11 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "J2" ( prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { - float state:angular:physics:position = -6.055396e-13 - float state:angular:physics:velocity = 0 float drive:angular:physics:damping = 1000 float drive:angular:physics:maxForce = 300 float drive:angular:physics:stiffness = 25000 @@ -59,14 +57,14 @@ over "sr3iac" quatf physics:localRot1 = (1, 0, 0, 0) float physics:lowerLimit = -144.99998 float physics:upperLimit = 144.99998 + float state:angular:physics:position = -6.055396e-13 + float state:angular:physics:velocity = 0 } def PhysicsPrismaticJoint "J3" ( prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"] ) { - float state:linear:physics:position = -0.00029909163 - float state:linear:physics:velocity = 0 float drive:linear:physics:damping = 10000 float drive:linear:physics:maxForce = 500 float drive:linear:physics:stiffness = 250000 @@ -78,20 +76,20 @@ over "sr3iac" float physics:breakForce = 3.4028235e38 float physics:breakTorque = 3.4028235e38 float physics:JointEquivalentInertia = 0.8017562 - point3f physics:localPos0 = (0.2, 0, 0) + point3f physics:localPos0 = (0.19999999, -8.1233416e-11, -0.00029911005) point3f physics:localPos1 = (0, 0, 0) quatf physics:localRot0 = (1, 0, 0, 0) quatf physics:localRot1 = (1, 0, 0, 0) float physics:lowerLimit = -0.2 float physics:upperLimit = 0 + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 } def PhysicsRevoluteJoint "J4" ( prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { - float state:angular:physics:position = -2.928809e-17 - float state:angular:physics:velocity = 0 float drive:angular:physics:damping = 1000 float drive:angular:physics:maxForce = 20 float drive:angular:physics:stiffness = 25000 @@ -109,6 +107,8 @@ over "sr3iac" quatf physics:localRot1 = (1, 0, 0, 0) float physics:lowerLimit = -720 float physics:upperLimit = 720 + float state:angular:physics:position = -2.928809e-17 + float state:angular:physics:velocity = 0 } } diff --git a/fanuc_sr3iac/payloads/materials.usda b/fanuc_sr3iac/payloads/materials.usda index 79b8c2e16a9d7acb2c61c72542f186d6965302bc..02bcd986a7e8f3c40509584f96bf648950dca24d 100644 --- a/fanuc_sr3iac/payloads/materials.usda +++ b/fanuc_sr3iac/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" ) @@ -647,7 +647,7 @@ 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) @@ -668,7 +668,7 @@ 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" ) @@ -809,7 +809,7 @@ 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) @@ -830,7 +830,7 @@ 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" ) @@ -971,7 +971,7 @@ 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) @@ -992,7 +992,7 @@ 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" ) @@ -1133,7 +1133,7 @@ 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) @@ -1154,7 +1154,7 @@ 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" ) @@ -1296,7 +1296,7 @@ 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) @@ -1317,7 +1317,7 @@ 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" ) @@ -1458,7 +1458,7 @@ 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) @@ -1479,7 +1479,7 @@ 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" ) @@ -1620,7 +1620,7 @@ 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) @@ -1641,7 +1641,7 @@ 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" ) @@ -1783,7 +1783,7 @@ 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) @@ -1804,7 +1804,7 @@ 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" ) @@ -1945,7 +1945,7 @@ 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) @@ -1966,7 +1966,7 @@ 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" ) @@ -2107,7 +2107,7 @@ 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) @@ -2128,7 +2128,7 @@ 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" ) @@ -2269,7 +2269,7 @@ 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) @@ -2290,7 +2290,7 @@ 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" ) @@ -2431,7 +2431,7 @@ 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) @@ -2452,7 +2452,7 @@ 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" ) @@ -2593,7 +2593,7 @@ 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) @@ -2614,7 +2614,7 @@ 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" ) @@ -2755,7 +2755,7 @@ 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) @@ -2776,7 +2776,7 @@ 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" ) @@ -2917,7 +2917,7 @@ 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) @@ -2938,7 +2938,7 @@ 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" ) @@ -3079,7 +3079,7 @@ 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/fanuc_sr3iac/runnables/physics/physx.usda b/fanuc_sr3iac/runnables/physics/physx.usda index b57984b6862fddec2c4f5a334b9c402d0079e44c..617476e0ac842e7a70a15bdac779350f92a9e138 100644 --- a/fanuc_sr3iac/runnables/physics/physx.usda +++ b/fanuc_sr3iac/runnables/physics/physx.usda @@ -34,7 +34,7 @@ over "sr3iac" ) { float physxJoint:maxJointVelocity = 1.8 - float state:linear:physics:position = -0.00029909163 + float state:linear:physics:position = 0 float state:linear:physics:velocity = 0 } @@ -63,8 +63,7 @@ over "sr3iac" { over "base" { - over "mesh_1" ( - ) + over "mesh_1" { token physics:approximation = "convexHull" } @@ -78,8 +77,7 @@ over "sr3iac" { over "j1" { - over "mesh_3" ( - ) + over "mesh_3" { token physics:approximation = "convexHull" } @@ -93,8 +91,7 @@ over "sr3iac" { over "j2" { - over "mesh_5" ( - ) + over "mesh_5" { token physics:approximation = "convexHull" } @@ -108,8 +105,7 @@ over "sr3iac" { over "j3" { - over "mesh_7" ( - ) + over "mesh_7" { token physics:approximation = "convexHull" } diff --git a/fanuc_sr3iac/sr3iac.usda b/fanuc_sr3iac/sr3iac.usda index 2388b0474b1e7113340d04f6956aef2571ce3885..42382ba7d9a68d37a6b8a140668bd0cd564abf30 100644 --- a/fanuc_sr3iac/sr3iac.usda +++ b/fanuc_sr3iac/sr3iac.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/fanuc_sr3iau/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr3iau/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 6a4cdf5448287816e3ccb37602c3514244383fdb..0326d7d6728f942e01b4b4c724124d29f995651c 100644 --- a/fanuc_sr3iau/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr3iau/.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": "2026-10-26T18:19:41", + "timestamp": "2026-11-02T23:11:11", "assets": [ { "asset": "sr3iau.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": "92e10977f119a7bed93d31765719a25ef216dfffe614238abfc20937f17e222b" + "sha256": "a8a8fbedcfe5550972b93a160b6ff0f85512eb0c4086396287ffc1b5f572c7ea" } } diff --git a/fanuc_sr3iau/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_sr3iau/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..fbaa122f92bfc435e1835ffc502fcd5fbeda56c1 100644 --- a/fanuc_sr3iau/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_sr3iau/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:11:13", "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/fanuc_sr3iau/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr3iau/.metadata/com.nvidia.simready.packaging.bom.json index fac638de15ec63e0c8f83c5af2076f28cdac49f8..c7456c88d800835a0d985b30cf84a415a0481f15 100644 --- a/fanuc_sr3iau/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr3iau/.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/fanuc_sr3iau/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_sr3iau/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49445, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "bd405ded42daf9b4667f1bcf934ff0cbe05d83ed2f7e0905bd86b52c5c55e35e", + "sha256": "c34c33ec1f207b9f74b91034c7fe4e36954748ce5f2657e5c1e7400d08e6c33d" } }, { @@ 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"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/fanuc_sr3iau/.thumbs/sr3iau.thumb.usd b/fanuc_sr3iau/.thumbs/sr3iau.thumb.usd deleted file mode 100644 index bacce8de8dcd42134e16e3dbe4731cade3c45e8e..0000000000000000000000000000000000000000 Binary files a/fanuc_sr3iau/.thumbs/sr3iau.thumb.usd and /dev/null differ diff --git a/fanuc_sr3iau/com.nvidia.simready.packaging.json b/fanuc_sr3iau/com.nvidia.simready.packaging.json index e5f2bbf6b558bbb29839e4bead935fd96e909830..a305cd43cfe9f33d79fefea3ce93746af3c2af0e 100644 --- a/fanuc_sr3iau/com.nvidia.simready.packaging.json +++ b/fanuc_sr3iau/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr3iau.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr3iau.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "d105d92ac41209ee312861a0827093ebc769eedda3f02b6ec985b424f182bd6f" + "sha256": "bfd63141a8f8b24e022f647c316b625811fa7749c013d8fcbe335a3317638b1e" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "b86868a1821f3018a848b8f3557c3fb83328c6b2cfb3143cfc0c3bf14f6a3008" + "sha256": "c4d4abbe51794bcb1c591e029eba5c7d449be53ced08fdea3eff093700fe8b5a" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "df05712ed9c03314c1b8f3df6ee405888104805275ed93e2215f8ab95cc9f7d9" + "sha256": "a8a8fbedcfe5550972b93a160b6ff0f85512eb0c4086396287ffc1b5f572c7ea" }, "package_hash": { - "sha256": "72c06c3ea484432cbaacd07da1d3c912caf05363e2821e81d3301c19f89c31a8" + "sha256": "d004c5432c1c0a565ee136c8beba6c2f9c5e19025e05103fabc0ba53650c843a" } } diff --git a/fanuc_sr3iau/payloads/materials.usda b/fanuc_sr3iau/payloads/materials.usda index 9ddc3f7b19de8934ce1132b2c59743cadd02259d..bad0442d0a8bcd0914472cb660cf20e47b3fa094 100644 --- a/fanuc_sr3iau/payloads/materials.usda +++ b/fanuc_sr3iau/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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/fanuc_sr3iau/sr3iau.usda b/fanuc_sr3iau/sr3iau.usda index b9de2fe0b1400733186dbec353cb3bc804115ccb..01a758bf7eda95a5b0e4edf7c4c25ffde6b81d07 100644 --- a/fanuc_sr3iau/sr3iau.usda +++ b/fanuc_sr3iau/sr3iau.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 = 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/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 = 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/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/fanuc_sr6ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr6ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 1c274af1c0c5eba5489e5262d30b5e2d59d9337d..bd9a86f5d8130fefce87caed48c4351ac4223072 100644 --- a/fanuc_sr6ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr6ia/.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": "2026-10-26T18:19:43", + "timestamp": "2026-11-02T23:11:14", "assets": [ { "asset": "sr6ia.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": "bb4e607c38a93aa7c4b5e4f09da8dbfb6c4d4de565ce1579370bae9f56b40e67" + "sha256": "cebd4669bdd04670191d0e39ad051a90289794687be33e1d09f7ae0163c86251" } } diff --git a/fanuc_sr6ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_sr6ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..d8de3720a46a7deb93cce95b257754a240f38716 100644 --- a/fanuc_sr6ia/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_sr6ia/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:11:15", "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/fanuc_sr6ia/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr6ia/.metadata/com.nvidia.simready.packaging.bom.json index 675a534a72ffc02eaa98cfdcb0958c2266c001c2..004d63728bbe870964eef1037b132fe60df2d188 100644 --- a/fanuc_sr6ia/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr6ia/.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/fanuc_sr6ia/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_sr6ia/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": "09885d3a09a0718a9fac0bcb812f4aab625010ae4dbf9685458985fa7e263f2e" } }, - { - "relative_path": ".thumbs/sr6ia.thumb.usd", - "size": 6122, - "hash": { - "sha256-flat-1mb": "7453d95a1750e5a4a3ee2181f43521b79538f0eef327da938b6e71fbc34450cc", - "sha256": "acb3f3e20f6fbb4a505b6d4232fb0ae828cb2de85f387310d6e04fd9a43f8832" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 92522, + "size": 92650, "hash": { - "sha256-flat-1mb": "f9dd3c413ab3f442c86e636d825e6e67a3256a69466e908360ddf9acc31e71e4", - "sha256": "3ed4761a28f9ca27b365d32346c7a2393ac3e125d76625dda3791ceeb3066963" + "sha256-flat-1mb": "224532e7080ddee862af43b71c7bed7ee6a89bc6fa20ca36c276efb208fbf3d9", + "sha256": "55b5e6fc2602c47c7434bad6b204dbcf68287bbd5f7bbac55a8afaccb9d3167c" } }, { @@ -197,11 +189,11 @@ }, { "relative_path": "sr6ia.usda", - "size": 15598, + "size": 81144, "hash": { - "sha256-flat-1mb": "9e081f82a353983dc7b1b5a1d9018bde2b3b1c2632716eea39831821301e90f4", - "sha256": "f607c6e06c54d96dbfb81fbaab214e4324bc68ebe98b188f8fed93e85c4d21a2" + "sha256-flat-1mb": "ee35d1b280aa274760050d6b0860e490ba37f5a7b29bd94b44b715de572f4a77", + "sha256": "073ad362384ca16a9610b1b1651088b87c9ce1cfbb4b2e0847f8c8cdc263b85a" } } ] -} +} \ No newline at end of file diff --git a/fanuc_sr6ia/.simready/validation.json b/fanuc_sr6ia/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_sr6ia/.simready/validation.json +++ b/fanuc_sr6ia/.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", + "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": 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"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/fanuc_sr6ia/.thumbs/sr6ia.thumb.usd b/fanuc_sr6ia/.thumbs/sr6ia.thumb.usd deleted file mode 100644 index 165e9779d5480df4ace9500003e52f770c2373d1..0000000000000000000000000000000000000000 Binary files a/fanuc_sr6ia/.thumbs/sr6ia.thumb.usd and /dev/null differ diff --git a/fanuc_sr6ia/com.nvidia.simready.packaging.json b/fanuc_sr6ia/com.nvidia.simready.packaging.json index 98699c842977689915b32560cb2b5e54ab137a02..e1d8c0f14e93c9ea03c3da8fbadd396e3ae3c693 100644 --- a/fanuc_sr6ia/com.nvidia.simready.packaging.json +++ b/fanuc_sr6ia/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr6ia.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr6ia.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "257e4282e596e86ef98538991552f0e643a09b625bef16156c467ced826fc401" + "sha256": "9e105f0b0b609fcf4dad686d08a4b8ddbbbf6c5cb767e5e716ae240cd8a73920" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "30c1dc97fc076b012a9c1e3f1a6c4af5a38d0f651f5673e2d3ad6e0ad3cb707b" + "sha256": "2a3f7bc7f4100d6a9e04aa2333b2e17b0d71b569ece2e9ee6d454bd3cd132c1b" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "00f9b4eca4e16a4b009dfc7ce998e51d556e833894d462f2e7d2de04c703d0a7" + "sha256": "cebd4669bdd04670191d0e39ad051a90289794687be33e1d09f7ae0163c86251" }, "package_hash": { - "sha256": "b40a58ce6cd35f82629f0e76a1a106525d44d4dce2dfd052411f4bda8f396cfb" + "sha256": "f1c41a7f07d60c61f173c2121339179064e16dc01fdafcfe5999e4b398a8b99a" } } diff --git a/fanuc_sr6ia/payloads/materials.usda b/fanuc_sr6ia/payloads/materials.usda index f39915dd57f2269d808c9ed8bf9cb4da3230f47a..cb9fc69412785b25be6d714f783938e5be6cce09 100644 --- a/fanuc_sr6ia/payloads/materials.usda +++ b/fanuc_sr6ia/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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) @@ -1639,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1780,7 +1780,7 @@ 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) @@ -1801,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1942,7 +1942,7 @@ 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) @@ -1963,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -2104,7 +2104,7 @@ 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) @@ -2125,7 +2125,7 @@ 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" ) @@ -2266,7 +2266,7 @@ 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) @@ -2287,7 +2287,7 @@ 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" ) @@ -2428,7 +2428,7 @@ 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) @@ -2449,7 +2449,7 @@ 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" ) @@ -2590,7 +2590,7 @@ 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/fanuc_sr6ia/sr6ia.usda b/fanuc_sr6ia/sr6ia.usda index 1a105dcdd0ccdc94c6be5a01ab8012f3442d4555..48cddf7e6fe1a2af5fbca454feeaceaf8fd59649 100644 --- a/fanuc_sr6ia/sr6ia.usda +++ b/fanuc_sr6ia/sr6ia.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/fanuc_sr6iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr6iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 8f748beef4b6a08bab74a037f1fc98698144f868..7188a097034f509217b3eaf8db5694281e714225 100644 --- a/fanuc_sr6iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr6iac/.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": "2026-10-26T18:19:45", + "timestamp": "2026-11-02T23:11:16", "assets": [ { "asset": "sr6iac.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": "52fbc7f1fafb0db6e9c3b65ddbd1bfbefc2600e0967eb61459284b17fb7cd098" + "sha256": "c2e85b613e88e0ce2b3f0c66bac0b5c35c1a4b1f3027a531ab111cbf5f8ec2e4" } } diff --git a/fanuc_sr6iac/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_sr6iac/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..4d8ae048d42de2abb7ff7ae583835ce0efff989a 100644 --- a/fanuc_sr6iac/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_sr6iac/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:11:18", "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/fanuc_sr6iac/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr6iac/.metadata/com.nvidia.simready.packaging.bom.json index 19244038bf912dee295c78d4b745279aab116968..9764747208c0929a4c1efd5eb1a3f58d277e0d80 100644 --- a/fanuc_sr6iac/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr6iac/.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/fanuc_sr6iac/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_sr6iac/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": "d09c3f8a5eb28e3cdf9ddba0bcbe33be48597e4f6224911f24dc31bf7cfd6d02" } }, - { - "relative_path": ".thumbs/sr6iac.thumb.usd", - "size": 6123, - "hash": { - "sha256-flat-1mb": "f9ab35ee795bea331bc45491d6181bd739a59ada8b221fc04904fa8625c3bf35", - "sha256": "be1ca3a60454dc3ce60c49e34a84296e9c90182a2a2d0196d61a1eb979489c96" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 92759, + "size": 92887, "hash": { - "sha256-flat-1mb": "38b12193bbcbe60e873d288c5cb61cd39eb31a9fc2b86eecb37c94fcd38aecc6", - "sha256": "2f82bb9f47af7f6827086f8d1de6a1144579b0771721c46a079f16486276b170" + "sha256-flat-1mb": "d9185abf2d8281f85f52638bba389a3e6b32cd634cc943e5a0ba97b1ec26d368", + "sha256": "d77b32eebfe86023b3639070804af0c91dc13b1e3930be2f9387f64049fab0b3" } }, { @@ -197,11 +189,11 @@ }, { "relative_path": "sr6iac.usda", - "size": 15607, + "size": 81153, "hash": { - "sha256-flat-1mb": "3a00e460c41da476dc80a42b47eff4203dbda9625ea95e8467e2bdcb02a44512", - "sha256": "3dd8f86801717abd01ce045e69faf645b9e1f4a72cc86934c82c41a26d73ba21" + "sha256-flat-1mb": "c6a50860b12d578e2107dfac01d137f33cd06b65a2434f005efd903ca3ecd523", + "sha256": "724bb299a77070a12fe46a09e49f4fba48e44e4fb7a66d6c1cdc8b8d6b2fade0" } } ] -} +} \ No newline at end of file diff --git a/fanuc_sr6iac/.simready/validation.json b/fanuc_sr6iac/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_sr6iac/.simready/validation.json +++ b/fanuc_sr6iac/.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", + "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)", + 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}, + "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/fanuc_sr6iac/.thumbs/sr6iac.thumb.usd b/fanuc_sr6iac/.thumbs/sr6iac.thumb.usd deleted file mode 100644 index 192338ad4401dfb9c67158ef6f7831bb13cad914..0000000000000000000000000000000000000000 Binary files a/fanuc_sr6iac/.thumbs/sr6iac.thumb.usd and /dev/null differ diff --git a/fanuc_sr6iac/com.nvidia.simready.packaging.json b/fanuc_sr6iac/com.nvidia.simready.packaging.json index 2b2ce136c07333a45617bf27255b3167c63a7988..433b7cb3ebbfa4af6019c935d1c4cbffc36b72ef 100644 --- a/fanuc_sr6iac/com.nvidia.simready.packaging.json +++ b/fanuc_sr6iac/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr6iac.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr6iac.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "40238bc6b75c2cacd1a9a6a6ef9fac4795e0d1bfcb7eb87f833db6b06894915f" + "sha256": "01e31a34c1bfe4f8333a8095ff201b0c97cf3be5b2a409b3284f4df6f5336aa1" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "9fc9019a976a1df7df1ad26d1d20db5f4d4a8d3d7aa602b1f7403b59ea96dfd1" + "sha256": "b047b82413797660d378a6cc54a057dc02fea752519de7a44b144951a1cb9e3b" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "aa2f8f3ea2fead5283f6c593948b3d6347259f8ee3b2c8bf63eae2dee8f295a5" + "sha256": "c2e85b613e88e0ce2b3f0c66bac0b5c35c1a4b1f3027a531ab111cbf5f8ec2e4" }, "package_hash": { - "sha256": "0f29475df668aba23f40714368a505086dc86b252b9e4a7b9c621ca6bbc5ca97" + "sha256": "fbc0b38b1a4f595454126190f4e7dacd13adcc3d88b856db1caee354ce841c80" } } diff --git a/fanuc_sr6iac/payloads/materials.usda b/fanuc_sr6iac/payloads/materials.usda index 0e964b28fd2fcb879936b31b3068416b4f9de780..c53aa959dadfc9f6aa893e71fa6ff0a5d3634b41 100644 --- a/fanuc_sr6iac/payloads/materials.usda +++ b/fanuc_sr6iac/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" ) @@ -485,7 +485,7 @@ 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) @@ -506,7 +506,7 @@ 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" ) @@ -647,7 +647,7 @@ 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) @@ -668,7 +668,7 @@ 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" ) @@ -809,7 +809,7 @@ 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) @@ -830,7 +830,7 @@ 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" ) @@ -972,7 +972,7 @@ 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) @@ -993,7 +993,7 @@ 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" ) @@ -1134,7 +1134,7 @@ 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) @@ -1155,7 +1155,7 @@ 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" ) @@ -1296,7 +1296,7 @@ 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) @@ -1317,7 +1317,7 @@ 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" ) @@ -1460,7 +1460,7 @@ 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) @@ -1481,7 +1481,7 @@ 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" ) @@ -1622,7 +1622,7 @@ 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) @@ -1643,7 +1643,7 @@ 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" ) @@ -1784,7 +1784,7 @@ 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) @@ -1805,7 +1805,7 @@ 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" ) @@ -1946,7 +1946,7 @@ 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) @@ -1967,7 +1967,7 @@ 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" ) @@ -2108,7 +2108,7 @@ 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) @@ -2129,7 +2129,7 @@ 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" ) @@ -2270,7 +2270,7 @@ 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) @@ -2291,7 +2291,7 @@ 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" ) @@ -2432,7 +2432,7 @@ 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) @@ -2453,7 +2453,7 @@ 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" ) @@ -2594,7 +2594,7 @@ 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/fanuc_sr6iac/sr6iac.usda b/fanuc_sr6iac/sr6iac.usda index d0e218555993ba4d7955fc900361f484f19abfd2..8e63a0cba6522077d899c9420ea84ca19a01e3a1 100644 --- a/fanuc_sr6iac/sr6iac.usda +++ b/fanuc_sr6iac/sr6iac.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/fanuc_sr9iar/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr9iar/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 84ada81d4d535f90a0c16dcdbec4402e3e92ce0d..12f76aa6e0f60bfa5b8bd09fa7d59c10561d9af2 100644 --- a/fanuc_sr9iar/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr9iar/.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": "2026-10-26T18:19:47", + "timestamp": "2026-11-02T23:11:19", "assets": [ { "asset": "sr9iar.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": "e07401a05ae23c0419789977ff717f3a1137a4eac9fdc10caba6a367e59030a2" + "sha256": "59f1f715a19da5be94c7addf0a4bbad158907f6560031abaab9f9119e75a3e8a" } } diff --git a/fanuc_sr9iar/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/fanuc_sr9iar/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..31536bf0462acfc65c967aa868b965b2d9517be0 100644 --- a/fanuc_sr9iar/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/fanuc_sr9iar/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:11:21", "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/fanuc_sr9iar/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr9iar/.metadata/com.nvidia.simready.packaging.bom.json index e58605e1a2d83570cba721f70ec84721c86b85ec..9ca11eb580c0c2a74cea7c59643451ab2a650fb7 100644 --- a/fanuc_sr9iar/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr9iar/.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/fanuc_sr9iar/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/fanuc_sr9iar/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": "c53142bf75edf5f2cf8f4a735fc732c54f3ae2c2611b0e09b7c7238e28e2abfb" } }, - { - "relative_path": ".thumbs/sr9iar.thumb.usd", - "size": 6123, - "hash": { - "sha256-flat-1mb": "ae4b9f1ef15cb16c5d3f32ff9a65b75c5dd5c5d8dd99bdcca22dcb51c7be3ab5", - "sha256": "688870039244b407601ec91d16af68006fc3c5dc8e73ec3a25a465f1850152c1" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -100,10 +92,10 @@ }, { "relative_path": "payloads/Physics/physics.usda", - "size": 8789, + "size": 8807, "hash": { - "sha256-flat-1mb": "4b99048f569cec9ba6e3b242b593be8d4b6eccd2d6194f517e9a56e90b6606dc", - "sha256": "a26e4bf0d5489535f76222736d3d53cbf4f2f02569e36c6d5c5a334e7dbe5f0e" + "sha256-flat-1mb": "e5d15a69205a0f9229d0e7a3277844be8687837ed2057be3ed94a9f05b6dfd5f", + "sha256": "f9701bf18918ad4db481292f57a10aec3ad0485eaa44fd83d910161b53e71794" } }, { @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 52062, + "size": 52134, "hash": { - "sha256-flat-1mb": "6d87ec692eb209eeb8d77da1f0011d684039ac5621df0b4559e67307947a0b85", - "sha256": "354d028974a0675d1d684106bf24a55855f5ef91c20cd39f51af5c085928ae8a" + "sha256-flat-1mb": "69e97a9db4cda44b7e8629deb56ff37d3ad0fdaef84044f468143ba819f4533d", + "sha256": "b1aaf09c0b299d48f863e6b00dce7c2f07c8ca1d5be9b5a02d62291d95ef47d3" } }, { @@ -189,19 +181,19 @@ }, { "relative_path": "runnables/physics/physx.usda", - "size": 2777, + "size": 2683, "hash": { - "sha256-flat-1mb": "63a0a6a1d7cdcc3c0e1b2b8b828057f10ac5927763db6b50374d59f407bad31b", - "sha256": "1c07d3e331d430b4495abe577e3a6d90c36b1dc11656e6d07778d1e03d0084c5" + "sha256-flat-1mb": "e0d134e7377ab873dacce490675657fb59392cba0fbea4f5c40405927783515f", + "sha256": "8c0a20e6430fbdc75145d456add7e7eab34672fea01200d3b8835e522788f07d" } }, { "relative_path": "sr9iar.usda", - "size": 15605, + "size": 81151, "hash": { - "sha256-flat-1mb": "c0cbb2a0c379f25ba6a4a5602b81630544771c4332ab6adaf075ddf58f5e4c9c", - "sha256": "4697dc384a66c4db463384ebc45ea0002cb34f6ba507b7c848e1f8dcb64118e0" + "sha256-flat-1mb": "6e0ada871a941aeb7b71ee81f2474f1e678a71a85ea6242b74c75ccdad219496", + "sha256": "8bcc5ced326743a8827a2c426146065b3363e0cba458669a551e68e572ecc17e" } } ] -} +} \ No newline at end of file diff --git a/fanuc_sr9iar/.simready/validation.json b/fanuc_sr9iar/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/fanuc_sr9iar/.simready/validation.json +++ b/fanuc_sr9iar/.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", + "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": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.0" + } + }, + "status": "pass" + }, + "isaac_sim_newton": { + "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": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.0" + } + }, + "status": "pass" + } + }, + "contract_id": "FET006_Materials.MDL.0-2-0", + "display_name": "Materials (MDL)", + "family": "FET006", + "runtime": "MDL", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "passed": true, + "status": "pass", + "version": "0.1.0", + "engines": { + "isaac_sim": { + "passed": true, + "tests": { + "display_color_response": { + "passed": true, + "status": "pass", + "name": "display_color_response", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py", + "provider": 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a/fanuc_sr9iar/.thumbs/sr9iar.thumb.usd b/fanuc_sr9iar/.thumbs/sr9iar.thumb.usd deleted file mode 100644 index 2cee1db237faab8fe71253d343ac2af1383f8382..0000000000000000000000000000000000000000 Binary files a/fanuc_sr9iar/.thumbs/sr9iar.thumb.usd and /dev/null differ diff --git a/fanuc_sr9iar/com.nvidia.simready.packaging.json b/fanuc_sr9iar/com.nvidia.simready.packaging.json index ab1724296042516bceb278a0338600a1e6474431..ddda5e7e73eb86d86a08b7b082dc319c9ec3a72c 100644 --- a/fanuc_sr9iar/com.nvidia.simready.packaging.json +++ b/fanuc_sr9iar/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr9iar.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr9iar.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "106b720a56e1dd1deaece0324c056c6735d66ae27179f0afcf78c116b866d809" + "sha256": "ed234c11338091dc59b4246ae69719f70da68e6f45368b893994bf19b0f0564e" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "2382ab6bbf5a98d2e09ed2ee4fa52556125c113ebec99c228661f0ae6b094537" + "sha256": "588fa4599d46b93926a7ad8c1ed9baeccf2dd3712917fa10f903e2ebee4288f4" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "1eb3b08e9cbd535f80841a0b2ff6c5e93a50405bcbf4f370a9f7b8e37377249d" + "sha256": "59f1f715a19da5be94c7addf0a4bbad158907f6560031abaab9f9119e75a3e8a" }, "package_hash": { - "sha256": "b123eda17391ebab10418e9e1fbb6598db7580b49088a358ccc52385b4aef51c" + "sha256": "cf2d54953e69946ca519e450a1514ce2284df9653079832f0220acb8d352a239" } } diff --git a/fanuc_sr9iar/payloads/Physics/physics.usda b/fanuc_sr9iar/payloads/Physics/physics.usda index efaa325fc930e37e87632c534bae13548b8a790f..2992b812981ee5d784b87892f0eec06a552191cc 100644 --- a/fanuc_sr9iar/payloads/Physics/physics.usda +++ b/fanuc_sr9iar/payloads/Physics/physics.usda @@ -15,8 +15,6 @@ over "sr9iar" prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { - float state:angular:physics:position = -2.5358965e-11 - float state:angular:physics:velocity = 0 float drive:angular:physics:damping = 100 float drive:angular:physics:maxForce = 2000 float drive:angular:physics:stiffness = 2500 @@ -34,14 +32,14 @@ over "sr9iar" quatf physics:localRot1 = (1, 0, 0, 0) float physics:lowerLimit = -180 float physics:upperLimit = 180 + float state:angular:physics:position = -2.5358965e-11 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "J2" ( prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { - float state:angular:physics:position = -2.453765e-12 - float state:angular:physics:velocity = 0 float drive:angular:physics:damping = 100 float drive:angular:physics:maxForce = 500 float drive:angular:physics:stiffness = 2500 @@ -59,14 +57,14 @@ over "sr9iar" quatf physics:localRot1 = (1, 0, 0, 0) float physics:lowerLimit = -149.99998 float physics:upperLimit = 149.99998 + float state:angular:physics:position = -2.453765e-12 + float state:angular:physics:velocity = 0 } def PhysicsPrismaticJoint "J3" ( prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"] ) { - float state:linear:physics:position = -0.000053022723 - float state:linear:physics:velocity = 0 float drive:linear:physics:damping = 10000 float drive:linear:physics:maxForce = 2000 float drive:linear:physics:stiffness = 250000 @@ -78,20 +76,20 @@ over "sr9iar" float physics:breakForce = 3.4028235e38 float physics:breakTorque = 3.4028235e38 float physics:JointEquivalentInertia = 0.13035204 - point3f physics:localPos0 = (0.24, 0, 0) + point3f physics:localPos0 = (0.24000001, -1.7906491e-9, -0.000052996616) point3f physics:localPos1 = (0, 0, 0) quatf physics:localRot0 = (1, 0, 0, 0) quatf physics:localRot1 = (1, 0, 0, 0) float physics:lowerLimit = -0.2 float physics:upperLimit = 0 + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 } def PhysicsRevoluteJoint "J4" ( prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { - float state:angular:physics:position = -4.0826634e-17 - float state:angular:physics:velocity = 0 float drive:angular:physics:damping = 100 float drive:angular:physics:maxForce = 40 float drive:angular:physics:stiffness = 2500 @@ -109,6 +107,8 @@ over "sr9iar" quatf physics:localRot1 = (1, 0, 0, 0) float physics:lowerLimit = -720 float physics:upperLimit = 720 + float state:angular:physics:position = -4.0826634e-17 + float state:angular:physics:velocity = 0 } } diff --git a/fanuc_sr9iar/payloads/materials.usda b/fanuc_sr9iar/payloads/materials.usda index 0fe84c7a6ef8547a7c682f1706fea14f37a42d9a..7a54eafb957d7a35caf3e3d31bfb282dea7558a4 100644 --- a/fanuc_sr9iar/payloads/materials.usda +++ b/fanuc_sr9iar/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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/fanuc_sr9iar/runnables/physics/physx.usda b/fanuc_sr9iar/runnables/physics/physx.usda index 2a5045768c03b523d8e6356d689a4536db133883..ac4cc1f654d97603a722d94f2e523a9f3b5c3182 100644 --- a/fanuc_sr9iar/runnables/physics/physx.usda +++ b/fanuc_sr9iar/runnables/physics/physx.usda @@ -34,7 +34,7 @@ over "sr9iar" ) { float physxJoint:maxJointVelocity = 2.8 - float state:linear:physics:position = -0.000053022723 + float state:linear:physics:position = 0 float state:linear:physics:velocity = 0 } @@ -63,8 +63,7 @@ over "sr9iar" { over "base" { - over "mesh_1" ( - ) + over "mesh_1" { token physics:approximation = "convexHull" } @@ -78,8 +77,7 @@ over "sr9iar" { over "j1" { - over "mesh_3" ( - ) + over "mesh_3" { token physics:approximation = "convexHull" } @@ -93,8 +91,7 @@ over "sr9iar" { over "j2" { - over "mesh_5" ( - ) + over "mesh_5" { token physics:approximation = "convexHull" } @@ -108,8 +105,7 @@ over "sr9iar" { over "j3" { - over "mesh_7" ( - ) + over "mesh_7" { token physics:approximation = "convexHull" } diff --git a/fanuc_sr9iar/sr9iar.usda b/fanuc_sr9iar/sr9iar.usda index 64ab3e8f3695a9c3fe9b238a906b7ee1d6c9d008..793b5a1d29a763a6ba246946e60097fcf58ba7eb 100644 --- a/fanuc_sr9iar/sr9iar.usda +++ b/fanuc_sr9iar/sr9iar.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/flexiv_rizon4_flexiv_rizon4/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/flexiv_rizon4_flexiv_rizon4/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index fa70dcaf0cc664b344fb487b2edcfbb794efe23b..14399acc087ba9f1da5fb82990c30958727700d1 100644 --- a/flexiv_rizon4_flexiv_rizon4/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/flexiv_rizon4_flexiv_rizon4/.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": "2026-10-26T18:19:50", + "timestamp": "2026-11-02T23:11:22", "assets": [ { "asset": "flexiv_rizon4.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": "d35cfae803ebbc9d6718bdecbc4e94e6d2dfd503aa353922018a2967f1939a99" + "sha256": "3edf399da6ef88f7421e6fd52159211c95e1fdbff5369808ab548ffb35ffac9f" } } diff --git a/flexiv_rizon4_flexiv_rizon4/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/flexiv_rizon4_flexiv_rizon4/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 5213f536665a33937e4b739e6fc2a76408d1d768..9144ba368bc6ef7711abded4f1ca4f33e7bcde9e 100644 --- a/flexiv_rizon4_flexiv_rizon4/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/flexiv_rizon4_flexiv_rizon4/.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": "2026-10-26T22:35:57", + "timestamp": "2026-11-02T23:11:24", "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/flexiv_rizon4_flexiv_rizon4/.metadata/com.nvidia.simready.packaging.bom.json b/flexiv_rizon4_flexiv_rizon4/.metadata/com.nvidia.simready.packaging.bom.json index cb7c724027ce5e95ab60f1a0e5a673986e9f1031..930dc3deec8c2035a6c7b9bf1394c60237e5e7c1 100644 --- a/flexiv_rizon4_flexiv_rizon4/.metadata/com.nvidia.simready.packaging.bom.json +++ b/flexiv_rizon4_flexiv_rizon4/.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/flexiv_rizon4_flexiv_rizon4/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/flexiv_rizon4_flexiv_rizon4/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7841, + "size": 48765, "hash": { - "sha256-flat-1mb": "b6a99fe0a1258ff8a29f736b6ebeb9fbb7f1684d55ff1d80ff62073c2a8f5fcf", - "sha256": "1222a1f254a904edf396d5ba3cf731c82a5c9511af4fc8af5401bd9e52b02e77" + "sha256-flat-1mb": "a538045b0ed83ae68b56610d4f1271eff5f0e0c086f2e5bb81d6c3d968a402f4", + "sha256": "59a4f7d0bc91bfc0d8ca2b3265fdb441af9c0ebb67657e460b69ac96e0ab5fbc" } }, { @@ -18,20 +18,12 @@ "sha256": "56723ad0687446255881f438739c1bc4e408496914c827e196d866a897bc170e" } }, - { - "relative_path": ".thumbs/flexiv_rizon4.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "ad9d1f5c08a1fd12b188b10bacba3a189009e94fb7d664475843db5494040bf2", - "sha256": "bc9e93f7c7a938405c6961227ab0b54db2722100808af9d8cb5067a798aa5afb" - } - }, { "relative_path": "flexiv_rizon4.usda", - "size": 17306, + "size": 81536, "hash": { - "sha256-flat-1mb": "a1a4fc25f0f6bf059dbd32202ccff4066822e59c1ea655daca7da8bf198a953b", - "sha256": "106051d4c226ef402cdfaeb24d217aae2f33f0b8071b1c64047d21a88af50cb0" + "sha256-flat-1mb": "9288c30994ef8bdbfb6a9ce763d3007951417b1d5f604d6aa4b696668a0c027c", + "sha256": "caccd11a70f15d3548105e2cfd6818e594b7297abbbe158ca88496ed6c48d4fd" } }, { @@ -133,18 +125,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 13965, + "size": 13973, "hash": { - "sha256-flat-1mb": "3d862f8deab6ccf722c5f019b649732a46aeef1df86a4b6b3de7817176358025", - "sha256": "b3bbc585a80ffd2eeebceda34e45f77681605a1ff01a9404aa89025609692811" + "sha256-flat-1mb": "642d44e184d2434019f2803b46212ed5eac041c26cad1d899c86371aabee56fb", + "sha256": "723a59ecdb529b97df862f4bbb45652642a590b735309cb2e785755f36a6a3a1" } }, { "relative_path": "payloads/materials.usda", - "size": 6888, + "size": 8656, "hash": { - "sha256-flat-1mb": "8ee7915fec1ca344e6e77544ac8d1a0e8f601e2c951b20e2a763d2a015191c47", - "sha256": "267c83a70439e5d0037599d8d3a4d245f4366ff36b23e936f046a7466ce1f65b" + "sha256-flat-1mb": "a9747b4566783fe4847bdb9198b50dc2bdc27d9bab0cfb3944df826affde8f3f", + "sha256": "b7b77110411c4bb7b477dbf6601e16e3f7773c0b577da92c19529df15b378965" } }, { @@ -173,11 +165,11 @@ }, { "relative_path": "runnables/physics/physx.usda", - "size": 5160, + "size": 5241, "hash": { - "sha256-flat-1mb": "e22f6436a6c5bc18e93f0769c935483ca0c080fbd677c4c911aae5110db03705", - "sha256": "777212398052b760a82c3e78b6f61476d6ef10d05da9870e8ec909b675b05329" + "sha256-flat-1mb": "879d7898d607256e38db96cee2120db7cfad200e121251b7ae1188b8022f9395", + "sha256": "5887ef2b427d0c80bd7ec9d0f868d3ae90413863f01783e156b329de6393a180" } } ] -} +} \ No newline at end of file diff --git a/flexiv_rizon4_flexiv_rizon4/.simready/validation.json b/flexiv_rizon4_flexiv_rizon4/.simready/validation.json index a33c73454356f791f9a1374d0bba5b5f8146d3ac..3f87c16eaef79ec5f2e82a56947559406fd6f701 100644 --- a/flexiv_rizon4_flexiv_rizon4/.simready/validation.json +++ b/flexiv_rizon4_flexiv_rizon4/.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": 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"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": true, + "status": "pass", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": true, + "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": 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"/.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": "pass" + } + }, + "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": true, + "status": "pass", + "version": "0.2.0", + "engines": { + "isaac_sim": { + "passed": true, + "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": true, + "status": "pass", + "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" + }, + "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": "pass" + } + }, + "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/flexiv_rizon4_flexiv_rizon4/.thumbs/flexiv_rizon4.thumb.usd b/flexiv_rizon4_flexiv_rizon4/.thumbs/flexiv_rizon4.thumb.usd deleted file mode 100644 index 335e3c067c95edef88d15178760f6945f1890e27..0000000000000000000000000000000000000000 Binary files a/flexiv_rizon4_flexiv_rizon4/.thumbs/flexiv_rizon4.thumb.usd and /dev/null differ diff --git a/flexiv_rizon4_flexiv_rizon4/com.nvidia.simready.packaging.json b/flexiv_rizon4_flexiv_rizon4/com.nvidia.simready.packaging.json index c13e834e5756c38c019c47b76808f790367fe4c8..36301594f10568c1939e5eec5eb1ad70c1cdefc4 100644 --- a/flexiv_rizon4_flexiv_rizon4/com.nvidia.simready.packaging.json +++ b/flexiv_rizon4_flexiv_rizon4/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.flexiv_rizon4_flexiv_rizon4.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.flexiv_rizon4_flexiv_rizon4.3.0.0", "license": "unknown", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "48186b342fd3d5c6adc08a5dde776c7a2cd7841e2f6c5490c0c216e07d824c21" + "sha256": "05831abd285883e7e0faf2444125ded7f214793083ebf3c004ae7bd24e7cdee3" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "f91cc3e19340da29adaa0703942f519957e7f8e641c9fa665a57e2546c3f9456" + "sha256": "b27824333d911065940a25e07cc643221d75be6f148eb9fee5bcc52db9088e6b" } }, { @@ -23,9 +23,9 @@ } ], "content_hash": { - "sha256": "b885704acbdc283c3a5aff27f085908df913b6228d31b6f14d8ef9fab80b976e" + "sha256": "3edf399da6ef88f7421e6fd52159211c95e1fdbff5369808ab548ffb35ffac9f" }, "package_hash": { - "sha256": "31793c02e69896effe88a2a7185022a3f3fe0c8c2af897e0bcd514478899b459" + "sha256": "1d7c1b78e74faab6189c9367d737f57afe7fba7cd651f30bd1616ec14929350b" } -} +} \ No newline at end of file diff --git a/flexiv_rizon4_flexiv_rizon4/flexiv_rizon4.usda b/flexiv_rizon4_flexiv_rizon4/flexiv_rizon4.usda index 639cbd6f947fbb10559765052e7b280635b902a2..522cb644413898abd674350a5cf6bba7b38b1ef8 100644 --- a/flexiv_rizon4_flexiv_rizon4/flexiv_rizon4.usda +++ b/flexiv_rizon4_flexiv_rizon4/flexiv_rizon4.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']" @@ -192,8 +1127,7 @@ 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 +1139,13 @@ 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" = { @@ -293,6 +1225,9 @@ def Xform "A02L_MP" ( , , ] + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) over "base_link" { diff --git a/flexiv_rizon4_flexiv_rizon4/payloads/instances.usda b/flexiv_rizon4_flexiv_rizon4/payloads/instances.usda index 0a4a3e8074e5a7d9c7526a0a1f9357d0e4fc0cde..e104375d82a19e0a288ee4c36af2985448930df9 100644 --- a/flexiv_rizon4_flexiv_rizon4/payloads/instances.usda +++ b/flexiv_rizon4_flexiv_rizon4/payloads/instances.usda @@ -45,7 +45,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -98,7 +98,7 @@ 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 } } @@ -204,7 +204,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -257,7 +257,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -310,7 +310,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -363,7 +363,7 @@ 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 } } diff --git a/flexiv_rizon4_flexiv_rizon4/payloads/materials.usda b/flexiv_rizon4_flexiv_rizon4/payloads/materials.usda index 38e91923397b40b233630504d8ec5b49629abf6b..0c762a0ea94b82a6c44d17f9e09bb902fdb6affd 100644 --- a/flexiv_rizon4_flexiv_rizon4/payloads/materials.usda +++ b/flexiv_rizon4_flexiv_rizon4/payloads/materials.usda @@ -22,6 +22,7 @@ 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" ) @@ -54,9 +55,18 @@ 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 "material_rizon_blue" @@ -67,6 +77,7 @@ 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" ) @@ -99,9 +110,18 @@ 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 "material_rizon_dark_grey" @@ -112,6 +132,7 @@ 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" ) @@ -144,9 +165,18 @@ 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 "material_rizon_white" @@ -157,6 +187,7 @@ 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" ) @@ -189,9 +220,18 @@ 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/flexiv_rizon4_flexiv_rizon4/runnables/physics/physx.usda b/flexiv_rizon4_flexiv_rizon4/runnables/physics/physx.usda index 170199fa0f66ddfd622cfc3b84479d169d4eced1..d2c48ac92efd31b7a819df011c42677e885a7d95 100644 --- a/flexiv_rizon4_flexiv_rizon4/runnables/physics/physx.usda +++ b/flexiv_rizon4_flexiv_rizon4/runnables/physics/physx.usda @@ -200,5 +200,10 @@ over "A02L_MP" ( } } } + + over "__fixed_base_joint" + { + bool physics:jointEnabled = 0 + } } diff --git a/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 1c6e06f513339130dbb159912a3f9560c1d38524..7145ca91e559d7b293376123e22c224087f6b35e 100644 --- a/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/frankarobotics_factoryfranka_factory_franka/.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": "2026-10-26T18:19:52", + "timestamp": "2026-11-02T23:11:24", "assets": [ { "asset": "factory_franka.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": "7449d76095d4d2904d47d26fb898e21f1c031f113b34626c75be7eb5a4dc0c9a" + "sha256": "1160a181a80b2ed29182f7154b173f84b68677038aa3bdaead8881ab321a92e6" } } diff --git a/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..f6eb7c0b8bd4a1ade80b3cee972ff7fdc92c3444 100644 --- a/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/frankarobotics_factoryfranka_factory_franka/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:11:26", "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/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.packaging.bom.json b/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.packaging.bom.json index d5af622d68156f170c0afd4ba852ff2edf99ed07..b5bcedba731c72715027d6823dbd77bcf61aae5f 100644 --- a/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.packaging.bom.json +++ b/frankarobotics_factoryfranka_factory_franka/.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/frankarobotics_factoryfranka_factory_franka/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/frankarobotics_factoryfranka_factory_franka/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7801, + "size": 48765, "hash": { - "sha256-flat-1mb": "d6f61a80d08beea6fdfbd56f2014e28c3feb7ce622b4c2f419165eb14226b93a", - "sha256": "ffb098ac293afacc3c52c5dbc22d87d7deefb2596bc1d8962e7a8ca82b8427cb" + "sha256-flat-1mb": "a538045b0ed83ae68b56610d4f1271eff5f0e0c086f2e5bb81d6c3d968a402f4", + "sha256": "59a4f7d0bc91bfc0d8ca2b3265fdb441af9c0ebb67657e460b69ac96e0ab5fbc" } }, { @@ -18,20 +18,12 @@ "sha256": "266933ceb54c7aa9b3f4d907b9c38f5652bb5b3add818b60ca5a707d69cb18ab" } }, - { - "relative_path": ".thumbs/factory_franka.thumb.usd", - "size": 6106, - "hash": { - "sha256-flat-1mb": "26103dc107a5ccd845a73368b9ed73b9b65a1e3d620c5c48ac6ffdc4d495846b", - "sha256": "0908dbe9e829331c4d6b0a5ce6cdb1d9f0b1940ef485f012b97c7f495881446d" - } - }, { "relative_path": "factory_franka.usda", - "size": 18181, + "size": 83490, "hash": { - "sha256-flat-1mb": "499084e49b906f86d3ca69448ffe2cb9e3421319b791da4b6d80a802e37a0ce9", - "sha256": "c2be3d6d7a169775d5370b7d12c91e3fab1c3da43958b8b38f39b1632fa78712" + "sha256-flat-1mb": "8f75dfe43941921865785f69f049e6156d00263e9dba89df02fa3b51a478f5f0", + "sha256": "6f04c80d757dd4aee23d8650e606c4d056bfc27311c87ec2cd24c54dcfee25dd" } }, { @@ -133,18 +125,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 50206, + "size": 50235, "hash": { - "sha256-flat-1mb": "56bc1515b3d9aa0c4cce627e3f8b4a7353958a052606bda5a83c34b0c6aa5ae6", - "sha256": "1feacb7d8d1d92e033251a65d9805387921c34cf0bb1734065a47abf8ac2f1a1" + "sha256-flat-1mb": "2e2de201066de915c16dd631459a59df6976aad55cb41b6601621c37ca7e1b06", + "sha256": "eef818e544498f1ba7dfb32c32fef5f2f19cd15d2142cb275755dc9708f6beb9" } }, { "relative_path": "payloads/materials.usda", - "size": 16045, + "size": 19641, "hash": { - "sha256-flat-1mb": "cd8f284038dcfac43bbefb490aba677a9258341fbf45b9dd1606d48e250f77b3", - "sha256": "594d97f055b531663615d31498955f10d2b57064c26178d178ad31896b135c2b" + "sha256-flat-1mb": "17ffc97bc29420dcce0fec74d427ec7e861d77141cca9383ef2ef2f386b8afea", + "sha256": "a5c23701993af8a6992cb1526816f46dee9810ae3617eaf2507544e4ca16c039" } }, { @@ -173,11 +165,11 @@ }, { "relative_path": "runnables/physics/physx.usda", - "size": 223442, + "size": 223523, "hash": { - "sha256-flat-1mb": "9809efd08c9603dcc7f333f9ab6018a42ce06b250546496ceec72703c40c1dea", - "sha256": "e88fa2ad105eb561898682663fa56e4e4fcebdc3ef59e5f0f38cd59ae1da60f5" + "sha256-flat-1mb": "4e1cdf306f98c5e0e47cfd1644f00ac0ab0460826b5ce1d523b80bbaec239680", + "sha256": "cb6a584899dc8fd3721c4fe489cfb7b592d1189a35761799942c18f7a7f9b414" } } ] -} +} \ No newline at end of file diff --git a/frankarobotics_factoryfranka_factory_franka/.simready/validation.json b/frankarobotics_factoryfranka_factory_franka/.simready/validation.json index bfcc4a903f7667da11f1ba3a68b3cd111d176fd4..3f87c16eaef79ec5f2e82a56947559406fd6f701 100644 --- a/frankarobotics_factoryfranka_factory_franka/.simready/validation.json +++ b/frankarobotics_factoryfranka_factory_franka/.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', 'com.nvidia.simready.VM.MDL.003']", - "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 +218,941 @@ } } } + }, + "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": 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"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": "pass" + } + }, + "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": true, + "status": "pass", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": true, + "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": true, + "status": "pass", + "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" + }, + "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": "pass" + } + }, + "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": true, + "status": "pass", + "version": "0.2.0", + "engines": { + "isaac_sim": { + "passed": true, + "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": true, + "status": "pass", + "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" + }, + "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": "pass" + } + }, + "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/frankarobotics_factoryfranka_factory_franka/.thumbs/factory_franka.thumb.usd b/frankarobotics_factoryfranka_factory_franka/.thumbs/factory_franka.thumb.usd deleted file mode 100644 index bbd220bbf52b450b9cfef0db606a014fab640031..0000000000000000000000000000000000000000 Binary files a/frankarobotics_factoryfranka_factory_franka/.thumbs/factory_franka.thumb.usd and /dev/null differ diff --git a/frankarobotics_factoryfranka_factory_franka/com.nvidia.simready.packaging.json b/frankarobotics_factoryfranka_factory_franka/com.nvidia.simready.packaging.json index 070851cbce6243701fe20de80b451d4683f74041..6ad3ea2032028b1740fb6a44cd8448fba88d4fb4 100644 --- a/frankarobotics_factoryfranka_factory_franka/com.nvidia.simready.packaging.json +++ b/frankarobotics_factoryfranka_factory_franka/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.frankarobotics_factoryfranka_factory_franka.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.frankarobotics_factoryfranka_factory_franka.3.0.0", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "91a4ddb6e5f424e36705a7e58881f5200eac247dcec48ca85ceecec2b5b1b2ce" + "sha256": "534d5785a7c5f801e5831bef54f7acf94d424b7089c4f5cdc5814115706de62d" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "26e326bca89ed30985aee7c0a2cac5fe09e6c8f9451165a91473a12d5b389991" + "sha256": "845a67c39526d20aa4011336c103259478ca5da7f096bee73f9ed45554a1acdd" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "37f116832c3a7ee532989f407a15917b4cdadbe1bb668ae3f9c2fa3a09c1bfa6" + "sha256": "1160a181a80b2ed29182f7154b173f84b68677038aa3bdaead8881ab321a92e6" }, "package_hash": { - "sha256": "eaede15ba5b53ea316be65d7d6592885e77084b413efc4ea54e5f43cd7db3974" + "sha256": "8edaa325ab19f0d518abd425a95f0148f68e23ed1ee5f1dfd106d958c6678c7d" } } diff --git a/frankarobotics_factoryfranka_factory_franka/factory_franka.usda b/frankarobotics_factoryfranka_factory_franka/factory_franka.usda index 987a6e2371092edf195c70da140ff3346e316fde..8f68b0128b8c5aa3e3c8f8632b7ad0f69e484adc 100644 --- a/frankarobotics_factoryfranka_factory_franka/factory_franka.usda +++ b/frankarobotics_factoryfranka_factory_franka/factory_franka.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']" @@ -192,8 +1127,7 @@ dictionary "FET006_Materials.MDL.0-2-0" = { bool blocking_failure = 0 string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.MDL.003']" - bool passed = 0 + bool passed = 1 string version = "0-2-0" } dictionary "FET006_Materials.OpenUSD.0-2-0" = { @@ -205,8 +1139,7 @@ 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" = { @@ -292,6 +1225,9 @@ def Xform "panda" ( , , ] + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) over "panda_link0" { @@ -418,6 +1354,8 @@ def Xform "panda" ( { def Material "Grey" { + token outputs:mdl:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface.connect = def Shader "PreviewSurface" @@ -429,6 +1367,24 @@ def Xform "panda" ( float inputs:roughness = 0.5 token outputs:surface } + + def Shader "simready_mdl_surfaceshader" + { + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @./materials/mdl/OmniPBR.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.5, 0.5, 0.5) + token outputs:out + } + + 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/frankarobotics_factoryfranka_factory_franka/payloads/instances.usda b/frankarobotics_factoryfranka_factory_franka/payloads/instances.usda index 113ee9a1dad4af7e2ff07997f0308ad23ebb55cc..fa0ebe3a2f1de69be475b9ff3532978b53ca5af3 100644 --- a/frankarobotics_factoryfranka_factory_franka/payloads/instances.usda +++ b/frankarobotics_factoryfranka_factory_franka/payloads/instances.usda @@ -82,7 +82,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -107,7 +107,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -132,7 +132,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -157,7 +157,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -219,7 +219,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -281,7 +281,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -355,7 +355,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -380,7 +380,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -454,7 +454,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -479,7 +479,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -553,7 +553,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -578,7 +578,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -692,7 +692,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -717,7 +717,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -742,7 +742,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -767,7 +767,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -792,7 +792,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -817,7 +817,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -842,7 +842,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -932,7 +932,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -957,7 +957,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -982,7 +982,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1007,7 +1007,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1097,7 +1097,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1122,7 +1122,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1147,7 +1147,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1172,7 +1172,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1246,7 +1246,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1271,7 +1271,7 @@ 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/frankarobotics_factoryfranka_factory_franka/payloads/materials.usda b/frankarobotics_factoryfranka_factory_franka/payloads/materials.usda index f8d23f2253177a09d2756fe8850892f050cd7273..0a7c5e37e1949aeabab161971aaa0f79e9c42802 100644 --- a/frankarobotics_factoryfranka_factory_franka/payloads/materials.usda +++ b/frankarobotics_factoryfranka_factory_franka/payloads/materials.usda @@ -22,6 +22,7 @@ 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" ) @@ -56,9 +57,18 @@ 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 "material_Part__Feature017_001" @@ -72,6 +82,7 @@ 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" ) @@ -106,9 +117,18 @@ 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 "material_Part__Feature023_001" @@ -122,6 +142,7 @@ 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" ) @@ -156,9 +177,18 @@ 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 "material_Shell001_001_001_003" @@ -172,6 +202,7 @@ 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" ) @@ -206,9 +237,18 @@ 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 "material_Face064_002_001_002_001" @@ -222,6 +262,7 @@ 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" ) @@ -256,9 +297,18 @@ 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 "material_Face065_002_001_002_001" @@ -272,6 +322,7 @@ 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" ) @@ -306,9 +357,18 @@ 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 "material_Union001_001_001_002_001" @@ -322,6 +382,7 @@ 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" ) @@ -356,9 +417,18 @@ 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 "material_Part__Mirroring_004_001" @@ -372,6 +442,7 @@ 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" ) @@ -406,9 +477,18 @@ 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/frankarobotics_factoryfranka_factory_franka/runnables/physics/physx.usda b/frankarobotics_factoryfranka_factory_franka/runnables/physics/physx.usda index be32c1deaa9333cc7f9f8cc4721fc3e47607ba6f..f3699a3011a06e9d9560d9a76e11d618dd96175f 100644 --- a/frankarobotics_factoryfranka_factory_franka/runnables/physics/physx.usda +++ b/frankarobotics_factoryfranka_factory_franka/runnables/physics/physx.usda @@ -299,5 +299,10 @@ over "panda" ( uchar[] physxCookedData:convexHull:buffer = [9, 118, 34, 29, 138, 57, 102, 94, 246, 124, 144, 79, 11, 234, 159, 193, 85, 78, 88, 83, 1, 67, 86, 88, 77, 14, 0, 0, 0, 0, 0, 0, 0, 73, 67, 69, 1, 67, 76, 72, 76, 9, 0, 0, 0, 8, 0, 0, 0, 12, 128, 0, 0, 6, 0, 0, 0, 24, 0, 0, 0, 0, 0, 0, 191, 0, 0, 0, 63, 0, 0, 0, 191, 0, 0, 0, 63, 0, 0, 0, 63, 0, 0, 0, 191, 0, 0, 0, 63, 0, 0, 0, 191, 0, 0, 0, 191, 0, 0, 0, 191, 0, 0, 0, 191, 0, 0, 0, 191, 0, 0, 0, 63, 0, 0, 0, 191, 0, 0, 0, 63, 0, 0, 0, 191, 0, 0, 0, 191, 0, 0, 0, 63, 0, 0, 0, 63, 0, 0, 0, 63, 0, 0, 0, 63, 0, 0, 0, 191, 0, 0, 0, 63, 0, 0, 0, 63, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 191, 0, 0, 0, 191, 0, 0, 4, 4, 0, 0, 0, 0, 0, 0, 128, 191, 0, 0, 0, 0, 0, 0, 0, 191, 4, 0, 4, 0, 0, 0, 128, 63, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 191, 8, 0, 4, 0, 0, 0, 0, 0, 0, 0, 128, 63, 0, 0, 0, 0, 0, 0, 0, 191, 12, 0, 4, 2, 0, 0, 128, 191, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 191, 16, 0, 4, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 63, 0, 0, 0, 191, 20, 0, 4, 0, 0, 1, 2, 3, 4, 5, 3, 2, 4, 2, 1, 6, 7, 6, 1, 0, 7, 0, 3, 5, 7, 5, 4, 6, 0, 3, 0, 2, 0, 1, 0, 4, 1, 5, 1, 4, 1, 2, 2, 3, 2, 5, 3, 5, 3, 4, 4, 5, 0, 3, 4, 0, 2, 3, 0, 1, 2, 0, 1, 4, 1, 2, 5, 1, 4, 5, 2, 3, 5, 3, 4, 5, 0, 0, 1, 0, 1, 0, 2, 0, 2, 0, 3, 0, 3, 0, 0, 0, 4, 0, 5, 0, 5, 0, 3, 0, 2, 0, 4, 0, 1, 0, 6, 0, 6, 0, 4, 0, 7, 0, 6, 0, 0, 0, 7, 0, 5, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 191, 0, 0, 0, 191, 0, 0, 0, 191, 0, 0, 0, 63, 0, 0, 0, 63, 0, 0, 0, 63, 0, 0, 128, 63, 171, 170, 42, 62, 0, 0, 0, 128, 0, 0, 0, 128, 0, 0, 0, 128, 171, 170, 42, 62, 0, 0, 0, 128, 0, 0, 0, 128, 0, 0, 0, 128, 171, 170, 42, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 191, 0, 0, 128, 191, 0, 0, 0, 63, 0, 0, 0, 63, 0, 0, 0, 63, 0, 0, 0, 63] } } + + over "__fixed_base_joint" + { + bool physics:jointEnabled = 0 + } } diff --git a/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 09d8efacaa85d45ccbe3294bf4dcc1ba4450dc95..42e3ecdf650bf211ba41192fd06d1d729d8541c2 100644 --- a/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/frankarobotics_frankaemika_panda_instanceable/.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": "2026-10-26T18:19:54", + "timestamp": "2026-11-02T23:11:27", "assets": [ { "asset": "panda_instanceable.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": "45d2f2e784468c29b7298ccbb660025bf64150a04c911bf69ecd2124c79df2ce" + "sha256": "b263b67f424e7040d50f503f2169ea15c8cde26feade34418616d2e0eb745261" } } diff --git a/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..e07e8d47688123f14f17aa6ffaf0b42201d28763 100644 --- a/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/frankarobotics_frankaemika_panda_instanceable/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:11:29", "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/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.packaging.bom.json b/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.packaging.bom.json index 23a069b3cd716cc1845aa38d4e7366db8442aa57..2295f138e8096dcb25b7db74a956cfed3330fad9 100644 --- a/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.packaging.bom.json +++ b/frankarobotics_frankaemika_panda_instanceable/.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/frankarobotics_frankaemika_panda_instanceable/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/frankarobotics_frankaemika_panda_instanceable/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7841, + "size": 48765, "hash": { - "sha256-flat-1mb": "b6a99fe0a1258ff8a29f736b6ebeb9fbb7f1684d55ff1d80ff62073c2a8f5fcf", - "sha256": "1222a1f254a904edf396d5ba3cf731c82a5c9511af4fc8af5401bd9e52b02e77" + "sha256-flat-1mb": "a538045b0ed83ae68b56610d4f1271eff5f0e0c086f2e5bb81d6c3d968a402f4", + "sha256": "59a4f7d0bc91bfc0d8ca2b3265fdb441af9c0ebb67657e460b69ac96e0ab5fbc" } }, { @@ -18,14 +18,6 @@ "sha256": "005b391a8c29c0708ce2853c3849aa52707881365f0cde9ed5cfadc8a8dcf7ce" } }, - { - "relative_path": ".thumbs/panda_instanceable.thumb.usd", - "size": 6130, - "hash": { - "sha256-flat-1mb": "fee05019ee6c7ff026e7171feb4d586fcd9ea95e07a2e6c5a541a735ab7f88fc", - "sha256": "8412d6255556f3d2c8c2a67a211975d3795313342c672bbd7e937e82df0bc6a6" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -84,10 +76,10 @@ }, { "relative_path": "panda_instanceable.usda", - "size": 16686, + "size": 80917, "hash": { - "sha256-flat-1mb": "3debd46881612130eb87a5114a19e9c3f370f8d4d0aa8ca81895444915197c98", - "sha256": "1c1883140c31884b8dbfff4f77752d8828ea8b924e18278f4e8270367984b807" + "sha256-flat-1mb": "00977aed092e70a59ff0efb974dd577284cfb096bd83d6b16e2495781deb346f", + "sha256": "61521f2cdef65326828f59297cb539ae1001f0df5d117fb73f8da8cabbef9e58" } }, { @@ -149,19 +141,19 @@ }, { "relative_path": "payloads/instances.usda", - "size": 4379332, + "size": 4379364, "hash": { - "sha256-flat-1mb": "2e44d335ab42eb4abd403ba3ef2ee9b6c4e538a9b1bb9a8eb8335589986391ba", - "sha256": "5b931170a8d39467d2a84d40390a62684f78d3d3f27244a893ee13bdb26ddf40", - "sha256-first1m": "79cb624f1b9a88cbc140301260ed4991035426168ce8fec41ba59dcd08ce100e" + "sha256-flat-1mb": "cd5d2357216551f14a99afd3790951507098436214983c3c1122e47644dad1b5", + "sha256": "b7aa2180aaaeebafd2d4949a8ed0d808de7b2ce1dfaeeb73bf5b5c9c0d273e04", + "sha256-first1m": "0b2c108c67803eacef5fbcaaec1d56daccf7602e6a69c9c00fcc01b66562c6d9" } }, { "relative_path": "payloads/materials.usda", - "size": 30705, + "size": 35881, "hash": { - "sha256-flat-1mb": "6f9355a148baad5a4d7d29d6bac6bb73e9e1b485ed348e9a5b3604ec6469aa7e", - "sha256": "19f9f7354ea1d9b9737186e6d3af3f2e2246a07f140b19a988ec8c66dbc35061" + "sha256-flat-1mb": "89a82c1bd12919930f690e6c719a9e4242bc06144478d94973583e7288c1e1a1", + "sha256": "ebd667200392e187d42bd04fac8cd45cc2861e57eebf15ea3f516351c2bff01a" } }, { @@ -197,4 +189,4 @@ } } ] -} +} \ No newline at end of file diff --git a/frankarobotics_frankaemika_panda_instanceable/.simready/validation.json b/frankarobotics_frankaemika_panda_instanceable/.simready/validation.json index a33c73454356f791f9a1374d0bba5b5f8146d3ac..3f87c16eaef79ec5f2e82a56947559406fd6f701 100644 --- a/frankarobotics_frankaemika_panda_instanceable/.simready/validation.json +++ b/frankarobotics_frankaemika_panda_instanceable/.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 +218,941 @@ } } } + }, + "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": 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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/frankarobotics_frankaemika_panda_instanceable/.thumbs/panda_instanceable.thumb.usd b/frankarobotics_frankaemika_panda_instanceable/.thumbs/panda_instanceable.thumb.usd deleted file mode 100644 index e4fcabb9021210e3669a346a76099188c7ab24df..0000000000000000000000000000000000000000 Binary files a/frankarobotics_frankaemika_panda_instanceable/.thumbs/panda_instanceable.thumb.usd and /dev/null differ diff --git a/frankarobotics_frankaemika_panda_instanceable/com.nvidia.simready.packaging.json b/frankarobotics_frankaemika_panda_instanceable/com.nvidia.simready.packaging.json index 2a4b39b75ba3e8865d709972f50972a133e60222..72da039f8c52619a127fc2997eb3e44a03a6a960 100644 --- a/frankarobotics_frankaemika_panda_instanceable/com.nvidia.simready.packaging.json +++ b/frankarobotics_frankaemika_panda_instanceable/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.frankarobotics_frankaemika_panda_instanceable.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.frankarobotics_frankaemika_panda_instanceable.3.0.0", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "41be5d3464e699568926fa6de504cc4bc20c8ab0afdf7db56ad7a03cc6b90ba0" + "sha256": "8e2a117d1883cedd8aa738b06ed54367406a169397f1eada3d25d6769fafb06b" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "8851bf4b0fc6c1322b6607d413338b70b1674e95367a87f432ccd22cc42d6d95" + "sha256": "241969694df60e6844eaf19a3a3bb516f4d94a76c651dc7b8652806b80971aae" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "e16bda9b025c0dab030b6294c7c96c85dc32f8b5baf01bbc4e1c99ebf5533b97" + "sha256": "b263b67f424e7040d50f503f2169ea15c8cde26feade34418616d2e0eb745261" }, "package_hash": { - "sha256": "40ecbf3b300117a93e2a523446da3afae4392a13246fec6224fa9a7588325b7f" + "sha256": "ee6e7ea39c101ba7acfae4ad592b8c4f2b010d52272f20559e34c77d09c7d47f" } } diff --git a/frankarobotics_frankaemika_panda_instanceable/panda_instanceable.usda b/frankarobotics_frankaemika_panda_instanceable/panda_instanceable.usda index 089d0408be0c40efce5a2c29d5f2451b1d0c0bd7..ed43b9c2723a775cfdaf34822cd3d136546d7efb 100644 --- a/frankarobotics_frankaemika_panda_instanceable/panda_instanceable.usda +++ b/frankarobotics_frankaemika_panda_instanceable/panda_instanceable.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']" @@ -192,8 +1127,7 @@ 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 +1139,13 @@ 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" = { @@ -277,6 +1209,10 @@ def Xform "panda" ( variantSets = ["Robot", "PhysX", "Newton", "MuJoCo"] ) { + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + over "panda_link0" { over "collisions" diff --git a/frankarobotics_frankaemika_panda_instanceable/payloads/instances.usda b/frankarobotics_frankaemika_panda_instanceable/payloads/instances.usda index d465e22d17f715c2515f306cda52a3cb97632aeb..8767562239771eb170b765d84fcfbfc4faaa3030 100644 --- a/frankarobotics_frankaemika_panda_instanceable/payloads/instances.usda +++ b/frankarobotics_frankaemika_panda_instanceable/payloads/instances.usda @@ -92,7 +92,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -117,7 +117,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -142,7 +142,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -167,7 +167,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -193,7 +193,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -255,7 +255,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -318,7 +318,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -397,7 +397,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -422,7 +422,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -501,7 +501,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -526,7 +526,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -605,7 +605,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -630,7 +630,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -797,7 +797,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -822,7 +822,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -847,7 +847,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -872,7 +872,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -897,7 +897,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -923,7 +923,7 @@ 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 } } @@ -1060,7 +1060,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1085,7 +1085,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1110,7 +1110,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1204,7 +1204,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1229,7 +1229,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1254,7 +1254,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1279,7 +1279,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1349,7 +1349,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1374,7 +1374,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1444,7 +1444,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1469,7 +1469,7 @@ 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/frankarobotics_frankaemika_panda_instanceable/payloads/materials.usda b/frankarobotics_frankaemika_panda_instanceable/payloads/materials.usda index d0d84571ecaf57f50f56bda0231ba0b7866ff54d..ed94ac3c7267dd8d508e7bd573bfb05b951b992b 100644 --- a/frankarobotics_frankaemika_panda_instanceable/payloads/materials.usda +++ b/frankarobotics_frankaemika_panda_instanceable/payloads/materials.usda @@ -20,6 +20,7 @@ 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" ) @@ -84,9 +85,18 @@ 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 "PlasticGray" @@ -100,6 +110,7 @@ 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" ) @@ -153,9 +164,18 @@ 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 "PlasticWhite" @@ -169,6 +189,7 @@ 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" ) @@ -218,9 +239,18 @@ 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 "PlasticBlack" @@ -234,6 +264,7 @@ 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" ) @@ -287,9 +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 "EmissiveBlue" @@ -303,6 +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" ) @@ -386,9 +427,18 @@ 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 "RubberGreen" @@ -402,6 +452,7 @@ 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" ) @@ -444,9 +495,18 @@ 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 "RubberRed" @@ -460,6 +520,7 @@ 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" ) @@ -502,9 +563,18 @@ 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 "RubberWhite" @@ -518,6 +588,7 @@ 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" ) @@ -560,9 +631,18 @@ 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 "RubberGray" @@ -576,6 +656,7 @@ 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" ) @@ -618,9 +699,18 @@ 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 "RubberLightGray" @@ -634,6 +724,7 @@ 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" ) @@ -665,9 +756,18 @@ 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 "AluminumRough" @@ -678,6 +778,7 @@ 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" ) @@ -742,9 +843,18 @@ 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 "rubber_cable" @@ -755,6 +865,7 @@ 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" ) @@ -830,9 +941,18 @@ 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/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 76106d447b205f7b124dfde179b1a353986f14e8..17ef8af93bc1c84f4cff3c523c9e5617dd5b615a 100644 --- a/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/frankarobotics_frankafr3_fr3/.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": "2026-10-26T18:19:56", + "timestamp": "2026-11-02T23:11:30", "assets": [ { "asset": "fr3.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": "116512f5150c450d6e371b61bafba3d467b50d4ec924db7d09619d866c0249a6" + "sha256": "47acac43d944605917b4caeab44d0ec202febf37d411d957af919168d6d62ad7" } } diff --git a/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..7e550ea8aa00e703845360725f6a4563f2a694b1 100644 --- a/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/frankarobotics_frankafr3_fr3/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:11:32", "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/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.packaging.bom.json b/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.packaging.bom.json index 4e39a4c4bd70a95aad7990bb5e494facf5cc0787..5b148a3553ab2e568c375fa35e0b9b1791794042 100644 --- a/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.packaging.bom.json +++ b/frankarobotics_frankafr3_fr3/.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/frankarobotics_frankafr3_fr3/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/frankarobotics_frankafr3_fr3/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7767, + "size": 49425, "hash": { - "sha256-flat-1mb": "f5bfcfe9a41edc7c43bc896d680ffd0a393696b1f81162c8d17794d0bbf90f35", - "sha256": "1b0f97d6102121f0b4209f55ce2b60af52d0ae4f0c76c77133d3802062d9dbd2" + "sha256-flat-1mb": "0a4f834047dcd7425b62be9a4e812bebe2acec9be4d178ab8a99801d1861305c", + "sha256": "8451dd63bc4ae22a9642193a9aee18c8c9e6e22eb33bb239f9537f7f83d8e8bd" } }, { @@ -18,21 +18,13 @@ "sha256": "5c94f9bfe687a8ee27d63a7988212413950a007b8dea6a918b2bb9b85cad4ed9" } }, - { - "relative_path": ".thumbs/fr3.thumb.usd", - "size": 6474, - "hash": { - "sha256-flat-1mb": "3f46d44aa1e5b1910b9d4640fd6d6ea0dba40509d106b31512dec12c7799c6f8", - "sha256": "dfe7b31ffefe5d721d28e6d4c86a15d16e4bfdf48d516312defd1d311ab1b33f" - } - }, { "relative_path": "fr3.usda", - "size": 4264552, + "size": 4329922, "hash": { - "sha256-flat-1mb": "496a4973afae24ef7b4730ed9d64370be96fcf3b7f9519449168a1d20df23b24", - "sha256": "b5e2d4ff9b5fd5b479a27a52df702852ab5b3ff1d1a8c207acd24a044802fbd4", - "sha256-first1m": "91384b79a6645a7aae660e2de65fc62b177575ed21cf800a0e659d39116709fd" + "sha256-flat-1mb": "666e19562bc308dd11aa7fb9ef8d23b224679899b26e79caef3ec9094174ac36", + "sha256": "e656dbaa3e8fd2a55a4cb88c8ca6e1d71b862f19267d78b517a91ba176643fb0", + "sha256-first1m": "d6d6dd354372d2d90c4c42856b1e85f2200179e9a8dd9749e9081cfb5a99e4c7" } }, { @@ -134,18 +126,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 58202, + "size": 58236, "hash": { - "sha256-flat-1mb": "4d0fb1847a1a8e8c8bd0214e37f5537ffeb1b690f061fd72f4d6fcaffe3d8944", - "sha256": "fbce5c4acbbc1f408017b417801c87f6d70cd2073d8f32c605731b94a7126636" + "sha256-flat-1mb": "6cefeb0f997475534f3983fc60d7c0897a794ce8e4955500ed9d4450988479e5", + "sha256": "dcbd54736220469d620e7c0da7cac985516aea9557845cd2cfff233ee9aa041e" } }, { "relative_path": "payloads/materials.usda", - "size": 22616, + "size": 27646, "hash": { - "sha256-flat-1mb": "7565a1e264d6ee0d8721b0c8fab743c26445904c65b1090401901e49826bc88f", - "sha256": "6a2641346b0e03c38c0ae44edf5ce339d6681ec32775bea53cb83a1d0fb599e8" + "sha256-flat-1mb": "cbb22cf798beb02cb65ae4d3a956c968ae92b28c4c0ffce1a7252bd0ba9e9a9d", + "sha256": "ea394dfbb75af7dbdd7f8f0fccbaa88753ba47f1d678d4203e9eb5a1f74dd814" } }, { @@ -174,11 +166,11 @@ }, { "relative_path": "runnables/physics/physx.usda", - "size": 4927, + "size": 5008, "hash": { - "sha256-flat-1mb": "4b869324272cfe48511f9bd0450dffaa10f215a56aa77c73a06526faded8ac4b", - "sha256": "5af5d57a98f1541518e4237430de6592a92847c22a1e04be9868d43d8b4ac7bb" + "sha256-flat-1mb": "18c0050dc71cecc9db2c181f5284da0b707ee175d488de76d66b74980d9d2555", + "sha256": "4235881e8a4a23c9eee3f7d46c93e1a68490b4e6ad33abfaf993fadd2070b523" } } ] -} +} \ No newline at end of file diff --git a/frankarobotics_frankafr3_fr3/.simready/validation.json b/frankarobotics_frankafr3_fr3/.simready/validation.json index 22ddc766c14fb050a865eeb7ee2c5b8afc840419..bc75ce3b43ab70760368c12c56235b79306f3b91 100644 --- a/frankarobotics_frankafr3_fr3/.simready/validation.json +++ b/frankarobotics_frankafr3_fr3/.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": "/.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" + }, 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{ + "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": true, + "status": "pass", + "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/frankarobotics_frankafr3_fr3/.thumbs/fr3.thumb.usd b/frankarobotics_frankafr3_fr3/.thumbs/fr3.thumb.usd deleted file mode 100644 index 9636850b19cdfb8fae5d7ee4b9b31bbdf9405673..0000000000000000000000000000000000000000 Binary files a/frankarobotics_frankafr3_fr3/.thumbs/fr3.thumb.usd and /dev/null differ diff --git a/frankarobotics_frankafr3_fr3/com.nvidia.simready.packaging.json b/frankarobotics_frankafr3_fr3/com.nvidia.simready.packaging.json index c9cf32f27b16cba3e266f6680480f616c43d8af0..9d50ef045bd0e2cbbee927bd6b17dfe32ec329d6 100644 --- a/frankarobotics_frankafr3_fr3/com.nvidia.simready.packaging.json +++ b/frankarobotics_frankafr3_fr3/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.frankarobotics_frankafr3_fr3.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.frankarobotics_frankafr3_fr3.3.0.0", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "4ac9b74b03153f8c600601cafb047b411f682463781a5cfaad7404d3fa24f919" + "sha256": "2bf50894e060142b9633e7566ae71e9702a40b8a92c1e7c2483152c43a215642" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "03444cd65a095a365d72180b941b93cc5c830d34d54aa4b90611a316b0520502" + "sha256": "37e45b54d2e3cb6758a8be19e719a951109eb360ef7c42f3a057946cf67ba869" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "484cef20b8d087bb3744bcad751e94ac21bf4a6a1a86fb8dd282b129c15472aa" + "sha256": "47acac43d944605917b4caeab44d0ec202febf37d411d957af919168d6d62ad7" }, "package_hash": { - "sha256": "0241e37f0d9fc06524fdc149f863b2ea84b54cd32472713ee5829e84bfcae006" + "sha256": "3ba0afa734347233344b66eb616cb4ced3fee5870bca44d1b1447933eefb93f4" } } diff --git a/frankarobotics_frankafr3_fr3/fr3.usda b/frankarobotics_frankafr3_fr3/fr3.usda index 2ead228cec6a10dc41fbc6576eb6ace6ab5f5ade..388006327293f76e9dba013a3e9d940db7ac3ef9 100644 --- a/frankarobotics_frankafr3_fr3/fr3.usda +++ b/frankarobotics_frankafr3_fr3/fr3.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 = 1 + string provider = "simready.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/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 = 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/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 = 1 + string provider = "simready.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/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" = { @@ -291,6 +1239,9 @@ def Xform "fr3" ( , , ] + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) over "fr3_link0" { diff --git a/frankarobotics_frankafr3_fr3/payloads/instances.usda b/frankarobotics_frankafr3_fr3/payloads/instances.usda index 1ee0926f3e7f29c5de32249f439777f93282d3c2..3add031682aad4d9941c3eb5ec5735b8fc3c888a 100644 --- a/frankarobotics_frankafr3_fr3/payloads/instances.usda +++ b/frankarobotics_frankafr3_fr3/payloads/instances.usda @@ -106,7 +106,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -131,7 +131,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -156,7 +156,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -181,7 +181,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -206,7 +206,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -231,7 +231,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -256,7 +256,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -319,7 +319,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -381,7 +381,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -455,7 +455,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -480,7 +480,7 @@ 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 } } @@ -661,7 +661,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -686,7 +686,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -711,7 +711,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -833,7 +833,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -858,7 +858,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -883,7 +883,7 @@ 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 } } @@ -933,7 +933,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -958,7 +958,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -983,7 +983,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1008,7 +1008,7 @@ 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 } } @@ -1123,7 +1123,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1148,7 +1148,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1173,7 +1173,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1263,7 +1263,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1288,7 +1288,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1313,7 +1313,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1338,7 +1338,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1412,7 +1412,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1437,7 +1437,7 @@ 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/frankarobotics_frankafr3_fr3/payloads/materials.usda b/frankarobotics_frankafr3_fr3/payloads/materials.usda index e49fa79c99df874901af2f846884c9cf7780add7..bd2a3220fda34ef68f7342fb950c5e853cc49739 100644 --- a/frankarobotics_frankafr3_fr3/payloads/materials.usda +++ b/frankarobotics_frankafr3_fr3/payloads/materials.usda @@ -21,6 +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:surface ( displayGroup = "Outputs" ) @@ -55,9 +56,18 @@ 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 "material__01_Base_URDF_color_0_174_255" @@ -71,6 +81,7 @@ 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" ) @@ -105,9 +116,18 @@ 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 "material__01_Base_URDF_color_192_192_192" @@ -121,6 +141,7 @@ 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 +176,18 @@ 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 "material__01_Base_URDF_color_255_66_6" @@ -171,6 +201,7 @@ 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" ) @@ -205,9 +236,18 @@ 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 "material__01_Base_URDF_color_64_64_64" @@ -221,6 +261,7 @@ 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" ) @@ -255,9 +296,18 @@ 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 "material__07_WRIST_URDF_color_128_255_128" @@ -271,6 +321,7 @@ 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" ) @@ -305,9 +356,18 @@ 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 "material__07_WRIST_URDF_color_210_210_239" @@ -321,6 +381,7 @@ 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" ) @@ -355,9 +416,18 @@ 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 "material__07_WRIST_URDF_color_255_0_0" @@ -371,6 +441,7 @@ 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" ) @@ -405,9 +476,18 @@ 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 "material__07_WRIST_URDF_color_8_159_255" @@ -421,6 +501,7 @@ 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" ) @@ -455,9 +536,18 @@ 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 "material_Part__Feature001_008_005" @@ -471,6 +561,7 @@ 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" ) @@ -505,9 +596,18 @@ 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 "material_Part__Feature002_005_005" @@ -521,6 +621,7 @@ 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" ) @@ -555,9 +656,18 @@ 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/frankarobotics_frankafr3_fr3/runnables/physics/physx.usda b/frankarobotics_frankafr3_fr3/runnables/physics/physx.usda index eb328fff946246852cf1a0c2f46608035086bdc3..8d438d3cd17e2e87e5fddec5d4f6e2a9e4421823 100644 --- a/frankarobotics_frankafr3_fr3/runnables/physics/physx.usda +++ b/frankarobotics_frankafr3_fr3/runnables/physics/physx.usda @@ -191,5 +191,10 @@ over "fr3" ( } } } + + over "__fixed_base_joint" + { + bool physics:jointEnabled = 0 + } } diff --git a/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 244fff8619a32e771a5cae5accd5a8f7253d806c..733425939d024876621b9b88d4d7757181add4d5 100644 --- a/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/frankarobotics_frankapanda_franka/.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": "2026-10-26T18:19:59", + "timestamp": "2026-11-02T23:11:33", "assets": [ { "asset": "franka.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": "d4fbfabe556373e233d067daa1a35873d1ffc1303ad16681f887313e6e7252d0" + "sha256": "d9e4e60927720b6a4bd0e33d972d9c30cba00173633c4882da3887c037ec43e3" } } diff --git a/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..d10d5b9b1c5d1aa451990f94a92e14c5754de071 100644 --- a/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/frankarobotics_frankapanda_franka/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:11:35", "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/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.packaging.bom.json b/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.packaging.bom.json index 130aebd104e33760d1e6aa575c13dbdf09f2a465..41bdfa478af6a122b6d8be5ae8816148e8f7331e 100644 --- a/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.packaging.bom.json +++ b/frankarobotics_frankapanda_franka/.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/frankarobotics_frankapanda_franka/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/frankarobotics_frankapanda_franka/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7841, + "size": 48753, "hash": { - "sha256-flat-1mb": "b6a99fe0a1258ff8a29f736b6ebeb9fbb7f1684d55ff1d80ff62073c2a8f5fcf", - "sha256": 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"c22ebef99c9bbaaebbd8ac209bc1aa17071d51300381feeec57caae8cfe053e1", - "sha256": "0f7c0bde76053541d6a5734f8ea3abbd9e276ddddca6af2bc023d2c58bd28910" + "sha256-flat-1mb": "0210348e4be7b4b201a080117ba2bfbc6d709d07f7b2226526b55759b1390ca2", + "sha256": "5bb544cb5d56113dfbae000d573cb2abcdfde4f1328e5c5906eb42ce1b1a6ef3" } }, { @@ -375,10 +367,10 @@ }, { "relative_path": "payloads/Gripper/robotiq_2f_85.usda", - "size": 3071, + "size": 3186, "hash": { - "sha256-flat-1mb": "0f8cecb4dcc142fca6eda208c765ff53f69085cf5c3d2ebd94194f6cabcefc6d", - "sha256": "3bdb5d255faf0a89e55c46d953bd599d706e0a2a0443ff8e94e27c358ace5fa6" + "sha256-flat-1mb": "f3f88a021e9ad19f044ab9d4c1a29a28e4408164df32e5675e0e55b51a7c4dee", + "sha256": "64a11b13a053162db7736c21823e93a27cf154d3e6a4dd175b86f2c8cabf7038" } }, { @@ -417,10 +409,10 @@ }, { "relative_path": "payloads/Mesh/dependencies/Materials.usd", - "size": 6269, + "size": 8020, "hash": { - "sha256-flat-1mb": "9e27a51846561c75258a72514cf14b2c0062e78e27f4a9d1ffed1f5f942608db", - "sha256": "aaad4a65321049c2f0bc2ff5d4860786cfde285e9bf6e2d818a2fd3bd1a423a7" + "sha256-flat-1mb": "5160457b8e5173352b3467dd3a29085195914327a3eebc8c36c7de9cc108c5ee", + "sha256": "7901d813c7f17047481bdf6deb6a118b2a9f459c17d49edf8605f048b4cc33a4" } }, { @@ -606,10 +598,10 @@ }, { "relative_path": "payloads/Physics/physics.usda", - "size": 26870, + "size": 26807, "hash": { - "sha256-flat-1mb": "9e09948514044a108badeb4e19a11035f394c34f2d26dab7f5c2c08f4e5d6b4a", - "sha256": "7c7f6b5bed57c5253f1d1ff23e0352eaff313564f9ffa5f4e12e0f24fca6dbf5" + "sha256-flat-1mb": "f300668b118fb3b23ad2ed7c2759bbffc62f2c1d725f159b69cb3fd737291fc4", + "sha256": "cfb207f97e631cd80610ea93cd0e7c6fe4764ec40f2f79c5ef5aebc4f50a77a3" } }, { @@ -639,19 +631,19 @@ }, { "relative_path": "payloads/instances.usda", - "size": 3976386, + "size": 3976410, "hash": { - "sha256-flat-1mb": "dd6ca43b115c05b4fe3bbf467b292b002959356b5ddcbb24f13832d1fe086c89", - "sha256": "c0d2c75d01f63aa6d090f1f89179ae8d73ffbeb32a05faeaa54b28bb0c966664", - "sha256-first1m": "874d172eff44a946b5830a8383f01ef720cd1474b7cef2b6cfbe84c5e3ac9b8e" + "sha256-flat-1mb": "a09aee99fa7cc6352c29dc90a0256ab1e07e423bb4a46c6abffbeee3864f6a2c", + "sha256": "2f4789b00bd6b706d0c3407089b2f47e32d6236f434ed57a20793b7c318a35ba", + "sha256-first1m": "dabc00d373ab106d0837861b5e0f503e02e3154b61a931ff6f382869658c7854" } }, { "relative_path": "payloads/materials.usda", - "size": 30751, + "size": 35927, "hash": { - "sha256-flat-1mb": "b9af9042234489be9cb8a2e4e7a409dbf1c702f11fe2b3104ff3415c4a137aaa", - "sha256": "9983503bb525d73143d6222028429a2e405ba86ab0c6f1208464cf5b7e6d15f7" + "sha256-flat-1mb": "4dbfb18cbbfb6c3fda6116236793af7cfa06d73e85fadba9815823768c97b765", + "sha256": "50c4bfedeaec78c4d731d91621dea8d1d69cc1298447e6e1a331c0e953d613e5" } }, { @@ -672,10 +664,10 @@ }, { "relative_path": "runnables/physics/newton.usda", - "size": 9673, + "size": 7544, "hash": { - "sha256-flat-1mb": "c6e58483081038233aead235e799776ef1b8c773c1db0bd5ed4a8501b8d4a2a9", - "sha256": "5e50295a45135259e67f9ecf360d3ae80a3bf11642bc18d0cd25f23d39b6bdae" + "sha256-flat-1mb": "f127cd4477a2ddc051d0d9778ef0865a5a3be2b63ab7d79e135b54dd084310d1", + "sha256": "6647ba9f7409e16d336c0cd9212c968b2c81db06cea6d0f760623e11c35ff80f" } }, { @@ -687,4 +679,4 @@ } } ] -} +} \ No newline at end of file diff --git a/frankarobotics_frankapanda_franka/.simready/validation.json b/frankarobotics_frankapanda_franka/.simready/validation.json index a33c73454356f791f9a1374d0bba5b5f8146d3ac..01c1e91b121869fecf65c703866c4c020c413877 100644 --- a/frankarobotics_frankapanda_franka/.simready/validation.json +++ b/frankarobotics_frankapanda_franka/.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 +218,941 @@ } } } + }, + "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": 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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", + "version": "1.2.9" + }, + "velocity_limit": { + "name": "velocity_limit", + "passed": true, + "provider": "simready.foundation.tier_core.runtime_tests", + "status": "pass", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py", + "version": "1.1.11" + } + } + } + }, + "family": "FET022", + "foundations_contract": 2, + "passed": true, + "profile": { + "id": "Robot-Gripper", + "version": "3.0.0" + }, + "profiles": [ + { + "id": "Robot-Gripper", + "version": "3.0.0" + } + ], + "runtime": "PhysX", + "source": false, + "status": "pass", + "version": "0.2.0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "contract_id": "FET028_Gripper.Isaac.0-1-0", + "display_name": "Gripper (Isaac)", + "engines": { + "isaac_sim": { + "passed": true, + "status": "pass", + "tests": { + "gripper_close_lift_cube": { + "name": "gripper_close_lift_cube", + "passed": true, + "provider": "simready.foundation.tier_core.runtime_tests", + "status": "pass", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py", + "version": "1.4.9" + }, + "gripper_close_lift_sphere": { + "name": "gripper_close_lift_sphere", + "passed": true, + "provider": "simready.foundation.tier_core.runtime_tests", + "status": "pass", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py", + "version": "1.4.9" + } + } + } + }, + "family": "FET028", + "foundations_contract": 2, + "passed": true, + "profile": { + "id": "Robot-Gripper", + "version": "3.0.0" + }, + "profiles": [ + { + "id": "Robot-Gripper", + "version": "3.0.0" + } + ], + "runtime": "Isaac", + "source": false, + "status": "pass", + "version": "0.1.0" + } + } + } + }, "validation": { "profile": "Robot-Gripper", "profile_version": "3.0.0", "validated_features": { - "2026-10-20": { + "2026-10-31": { "CAP000_Core.MuJoCo.0-1-0": { "blocking_failure": false, "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "optional requirements": "['com.nvidia.simready.NP.005', 'com.nvidia.simready.RV.007']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP000_Core.Newton.0-1-0": { "blocking_failure": false, "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "optional requirements": "['com.nvidia.simready.NP.005', 'com.nvidia.simready.RV.004']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP000_Core.OpenUSD.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.NP.005']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP000_Core.PhysX.0-1-0": { "blocking_failure": false, "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "optional requirements": "['com.nvidia.simready.NP.005']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP003_RigidBody.MuJoCo.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "CAP004_Multibody.MuJoCo.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "CAP004_Multibody.RobotMuJoCo.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "CAP021_RobotCore.Isaac.0-2-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.003', 'com.nvidia.simready.RC.005', 'com.nvidia.simready.RC.009']", - "passed": false, + "passed": true, "version": "0-2-0" }, "CAP022_DrivenJoints.MuJoCo.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "CAP024_BaseArticulation.MuJoCo.0-1-0": { @@ -85,8 +1247,7 @@ "CAP024_BaseArticulation.Newton.0-1-0": { "blocking_failure": false, "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "optional requirements": "['com.nvidia.simready.NEWTON.BA.001']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP024_BaseArticulation.OpenUSD.0-1-0": { @@ -102,12 +1263,9 @@ "version": "0-1-0" }, "CAP028_Gripper.MuJoCo.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { @@ -117,11 +1275,9 @@ "version": "0-1-0" }, "CAP033_SimReadyPackage.OpenUSD.0-4-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", - "failing requirements": "['com.nvidia.simready.SR.004']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.SR.004\": [\"Required metadata fields are missing: mass. Fields may be authored in root-layer customLayerData (including SimReady_Metadata) and/or the same-directory sidecar JSON.\"]}", + "passed": true, "version": "0-4-0" }, "CAP100_IsaacComposition.Isaac.0-3-0": { @@ -137,79 +1293,57 @@ "version": "1-0-1" }, "FET003_RigidBody.Newton.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET003_RigidBody.OpenUSD.0-2-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-2-0" }, "FET003_RigidBody.PhysX.0-4-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-4-0" }, "FET004_Multibody.Newton.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET003_RigidBody.Newton.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET004_Multibody.OpenUSD.0-2-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-2-0" }, "FET004_Multibody.PhysX.0-4-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-4-0" }, "FET004_Multibody.RobotNewton.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET004_Multibody.RobotPhysX.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "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": { @@ -221,78 +1355,285 @@ "FET006_Materials.Openpbr.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.PBR.001']", - "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.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET022_DrivenJoints.Isaac.0-2-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-2-0" }, "FET022_DrivenJoints.Newton.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.NEWTON.DJ.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET022_DrivenJoints.OpenUSD.0-2-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-2-0" }, "FET022_DrivenJoints.PhysX.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET022_DrivenJoints.PhysX.0-2-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET004_Multibody.PhysX.0-4-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-2-0" }, "FET028_Gripper.Isaac.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "2026-11-01": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, "version": "0-1-0" }, "FET028_Gripper.OpenUSD.0-1-0": { diff --git a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/.thumbs/256x256/Robotiq_2F_85.usda.png b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/.thumbs/256x256/simready_Robotiq_2F-85.usda.png similarity index 100% rename from frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/.thumbs/256x256/Robotiq_2F_85.usda.png rename to frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/.thumbs/256x256/simready_Robotiq_2F-85.usda.png diff --git a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/.thumbs/Robotiq_2F_85.thumb.usd b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/.thumbs/Robotiq_2F_85.thumb.usd deleted file mode 100644 index 7781fd3af0b02fe2e7405c8dbbde88ad51a227f7..0000000000000000000000000000000000000000 Binary files a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/.thumbs/Robotiq_2F_85.thumb.usd and /dev/null differ diff --git a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/Robotiq_2F_85.usda b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/Robotiq_2F_85.usda deleted file mode 100644 index a11a4609cce6d04842cf835a220dbaa7e1fe165e..0000000000000000000000000000000000000000 --- a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/Robotiq_2F_85.usda +++ /dev/null @@ -1,427 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/Robotiq_2F_85" - string variantSetName = "PhysX" - } - } - } - dictionary validation = { - string profile = "Robot-Gripper" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-20" = { - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NP.005', 'com.nvidia.simready.RV.007']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NP.005', 'com.nvidia.simready.RV.004']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.NP.005']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NP.005']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.003', 'com.nvidia.simready.RC.005', 'com.nvidia.simready.RC.009']" - bool passed = 0 - string version = "0-2-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.BA.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 1 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.SR.004']" - bool passed = 0 - string requirement_messages = '{"com.nvidia.simready.SR.004": ["Required metadata fields are missing: mass. Fields may be authored in root-layer customLayerData (including SimReady_Metadata) and/or the same-directory sidecar JSON."]}' - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 1 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 1 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - 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 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - 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']" - bool passed = 0 - 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 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 1 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.NEWTON.DJ.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 1 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 1 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-2-0" - } - dictionary "FET028_Gripper.Isaac.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET028_Gripper.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - } - } - } - } - float3 asset_extents = (0.075, 0.15448326, 0.15177661) - string asset_license = "CC-BY-4.0" - string asset_name = "Robotiq_2F_85" - string asset_type = "robot" - string author = "Robotiq" - string category = "robot end effector" - string qcode = "Q1340324" - int rigid_body_count = 9 - string source_file = "Robotiq/2F-85/Robotiq_2F_85.usda" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "Robotiq_2F_85" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Xform "Robotiq_2F_85" ( - kind = "component" - prepend references = [ - @./payloads/Physics/Physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string PhysX = "Disabled" - } - prepend variantSets = "PhysX" -) -{ - string isaac:namespace ( - displayName = "Namespace" - doc = "Namespace of the prim in Isaac Sim" - ) - - over "base_link" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "left_outer_knuckle" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "left_outer_finger" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "left_inner_knuckle" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "right_outer_knuckle" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "right_outer_finger" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "right_inner_knuckle" - { - over "visuals" ( - instanceable = false - ) - { - } - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } -} - diff --git a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/license.txt b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/license.txt deleted file mode 100644 index da6ab6cc8f333d7e89a99812866df8f24374d47c..0000000000000000000000000000000000000000 --- a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/license.txt +++ /dev/null @@ -1,396 +0,0 @@ -Attribution 4.0 International - -======================================================================= - -Creative Commons Corporation ("Creative Commons") is not a law firm and -does not provide legal services or legal advice. Distribution of -Creative Commons public licenses does not create a lawyer-client or -other relationship. Creative Commons makes its licenses and related -information available on an "as-is" basis. Creative Commons gives no -warranties regarding its licenses, any material licensed under their -terms and conditions, or any related information. Creative Commons -disclaims all liability for damages resulting from their use to the -fullest extent possible. - -Using Creative Commons Public Licenses - -Creative Commons public licenses provide a standard set of terms and -conditions that creators and other rights holders may use to share -original works of authorship and other material subject to copyright -and certain other rights specified in the public license below. 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For -the avoidance of doubt, this paragraph does not form part of the -public licenses. - -Creative Commons may be contacted at creativecommons.org. - diff --git a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/Physics/Physics.usda b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/Physics/Physics.usda index 27be9d090672dee417b4b7e0d9f5bdcc7a1e26b9..36bcb3538e9862bbd599b1ab90bd595a23d99a8f 100644 --- a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/Physics/Physics.usda +++ b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/Physics/Physics.usda @@ -14,9 +14,18 @@ over "Robotiq_2F_85" ( ) { over "base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI"] + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] ) { + float physics:mass = 0.043512285 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + over "visuals" { over "Defeatured_2F_85_PAD_OPEN_basestep_01" @@ -35,9 +44,18 @@ over "Robotiq_2F_85" ( } over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI"] + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] ) { + float physics:mass = 0.0033728504 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + over "visuals" { over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" @@ -151,9 +169,18 @@ over "Robotiq_2F_85" ( } over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI"] + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] ) { + float physics:mass = 0.0033728504 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + over "visuals" { over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" @@ -268,11 +295,16 @@ over "Robotiq_2F_85" ( over "Joints" { + def PhysicsFixedJoint "root_joint" + { + custom rel physics:body1 = + } + def PhysicsRevoluteJoint "finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { - float drive:angular:physics:damping = 0.0002 + float drive:angular:physics:damping = 0.1 float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 3 float drive:angular:physics:targetPosition = 0 @@ -286,9 +318,12 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5) float physics:lowerLimit = 0 float physics:upperLimit = 47 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 @@ -303,6 +338,8 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, -0.5, 0.5, -0.5) float physics:lowerLimit = 0 float physics:upperLimit = 47 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsFixedJoint "right_outer_finger_joint" @@ -316,6 +353,7 @@ over "Robotiq_2F_85" ( } def PhysicsRevoluteJoint "right_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 @@ -331,9 +369,12 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5) float physics:lowerLimit = -180 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 @@ -348,6 +389,8 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5) float physics:lowerLimit = -180 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsFixedJoint "left_outer_finger_joint" @@ -361,6 +404,7 @@ over "Robotiq_2F_85" ( } def PhysicsRevoluteJoint "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 @@ -374,9 +418,12 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) float physics:lowerLimit = -180 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "left_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 @@ -392,7 +439,17 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, -0.5, -0.5, 0.5) float physics:lowerLimit = -180 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 4 + float physics:staticFriction = 4 + } } diff --git a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/base.usda b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/base.usda index d976d2af219dda52a4914539ad1355d910ed521f..abadb5fc6ec7b376191850d4aacea6a510dd1800 100644 --- a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/base.usda +++ b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/base.usda @@ -37,6 +37,36 @@ def Xform "Robotiq_2F_85" ( double3 xformOp:translate = (0, 0, 0) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.085 + custom float gripper_maxPayload = 0.5 + string isaac:Description = "Parallel-jaw grasp center" + token simready:attactment:socketType = "Gripper" + double3 xformOp:translate = (0, 0, 0.13) + uniform token[] xformOpOrder = ["xformOp:translate"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0, 0.05)] + point3f[] points = [(0, 0, 0), (0, 0, 0.05)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(-0.015, 0, 0), (0.015, 0, 0)] + point3f[] points = [(-0.015, 0, 0), (0.015, 0, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } } def Xform "left_outer_knuckle" ( @@ -117,8 +147,13 @@ def Xform "Robotiq_2F_85" ( } } - def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" ( + prepend apiSchemas = ["MaterialBindingAPI"] + ) { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) quatd xformOp:orient = (1, 0, 0, 0) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0, 0, 0) @@ -234,8 +269,13 @@ def Xform "Robotiq_2F_85" ( } } - def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" ( + prepend apiSchemas = ["MaterialBindingAPI"] + ) { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) quatd xformOp:orient = (1, 0, 0, 0) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0, 0, 0) @@ -276,6 +316,12 @@ def Xform "Robotiq_2F_85" ( def Scope "Joints" { } + + def Material "fingertip_material" ( + active = true + ) + { + } } def Scope "VisualMaterials" diff --git a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/instances.usda b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/instances.usda index 3e83bb11976818a1fa3b27e3ca97dd6e5dcf0227..a0c512120a324db4793a207673ba8b6cbbfa3120 100644 --- a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/instances.usda +++ b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/instances.usda @@ -158,7 +158,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -183,7 +183,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -208,7 +208,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -233,7 +233,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -258,7 +258,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -283,7 +283,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -308,7 +308,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -333,7 +333,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -358,7 +358,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -383,7 +383,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -408,7 +408,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -473,7 +473,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -606,7 +606,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -631,7 +631,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -796,7 +796,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -821,7 +821,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -846,7 +846,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -871,7 +871,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -896,7 +896,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -956,7 +956,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -981,7 +981,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1071,7 +1071,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1096,7 +1096,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1121,7 +1121,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1146,7 +1146,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1171,7 +1171,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1231,7 +1231,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1256,7 +1256,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1321,7 +1321,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } diff --git a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/materials.usda b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/materials.usda index fde12744678d1c04d1598e0dfa0a92974c14af0b..55a6257f4ef4cabd532e99baab4b462bc3ada3ce 100644 --- a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/materials.usda +++ b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/materials.usda @@ -17,21 +17,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -64,9 +65,18 @@ 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 "Stack" @@ -76,21 +86,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -123,9 +134,18 @@ 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 "Chateau_Green" @@ -135,21 +155,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -182,9 +203,18 @@ 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 "Gravel" @@ -194,21 +224,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -241,9 +272,18 @@ 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 "Silver_Rust" @@ -253,21 +293,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -300,9 +341,18 @@ 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 "Gallery" @@ -312,21 +362,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -359,9 +410,18 @@ 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 "Blue_Ribbon" @@ -371,21 +431,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -418,9 +479,18 @@ 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 "Dawn" @@ -430,21 +500,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -477,9 +548,18 @@ 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 "White" @@ -489,21 +569,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -536,9 +617,18 @@ 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" @@ -548,21 +638,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -595,9 +686,18 @@ 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 "Mystic" @@ -607,21 +707,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -654,9 +755,18 @@ 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 "Pumice" @@ -666,21 +776,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -713,9 +824,18 @@ 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 "Periwinkle_Gray" @@ -725,21 +845,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -772,9 +893,18 @@ 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 "Celeste" @@ -784,21 +914,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -831,9 +962,18 @@ 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 "Rangoon_Green" @@ -843,21 +983,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -890,9 +1031,18 @@ 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 "Nobel" @@ -902,21 +1052,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -949,9 +1100,18 @@ 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/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/robot.usda b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/robot.usda index 41928119a41b6122d2c758adf26790a57491275f..5b3d590614d696afff959643761ef6f6aab600e3 100644 --- a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/robot.usda +++ b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/payloads/robot.usda @@ -13,7 +13,8 @@ over "Robotiq_2F_85" ( displayName = "Namespace" doc = "Namespace of the prim in Isaac Sim" ) - rel isaac:physics:robotJoints = [ + prepend rel isaac:physics:robotJoints = [ + , , , , @@ -21,7 +22,7 @@ over "Robotiq_2F_85" ( , , ] - rel isaac:physics:robotLinks = [ + prepend rel isaac:physics:robotLinks = [ , , , @@ -94,6 +95,12 @@ over "Robotiq_2F_85" ( over "Joints" { + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + over "finger_joint" ( prepend apiSchemas = ["IsaacJointAPI"] ) diff --git a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/runnables/physics/mujoco.usda b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..d8df34088498d1069d387805eb65228103656a5b --- /dev/null +++ b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/runnables/physics/mujoco.usda @@ -0,0 +1,288 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_85" +) + +def "Robotiq_2F_85" +{ + over "base_link" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_basestep_01" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "left_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "Joints" + { + over "finger_joint" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_Robotiq_2F_85_Joints_finger_joint" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -171.88733853924697, -0.011459155613133837] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 26 + double mjc:forceRange:min = -26 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/runnables/physics/newton.usda b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..511c5cf904bf2fe85e0d8c8b1646f5e2c0cf73e5 --- /dev/null +++ b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/runnables/physics/newton.usda @@ -0,0 +1,299 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_85" +) + +over "Robotiq_2F_85" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] +) +{ + bool newton:selfCollisionEnabled = 0 + + over "base_link" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_basestep_01" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "Joints" + { + over "finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 6.66 + float newton:armature = 0.1 + float newton:damping = 0.222 + float newton:velocityLimit = 146.46 + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + } +} + diff --git a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/runnables/physics/physx.usda b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/runnables/physics/physx.usda index b6caa7ab4235b3b152b3932eda9cb80a22c66dbb..1f77346f2d3436d058d5f842fc3f8829d5782538 100644 --- a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/runnables/physics/physx.usda +++ b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/runnables/physics/physx.usda @@ -22,7 +22,7 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { - float physxJoint:armature = 0.0001 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 146.46 float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -32,11 +32,14 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] ) { - float physxJoint:armature = 0.0001 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 10000 - float physxMimicJoint:rotZ:dampingRatio = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 float physxMimicJoint:rotZ:gearing = -1 - float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 rel physxMimicJoint:rotZ:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -46,10 +49,14 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 10000 - float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -59,10 +66,14 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 10000 - float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -72,10 +83,14 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 10000 - float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -85,10 +100,14 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 10000 - float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -101,8 +120,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_basestep_01" { - over "Defeatured_2F_85_PAD_OPEN_basestep" ( - ) + over "Defeatured_2F_85_PAD_OPEN_basestep" { over "Defeatured_2F_85_PAD_OPEN_basestep" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -121,8 +139,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" { - over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_Finger1step" { over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -141,8 +158,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" { - over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_Finger1step" { over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -161,8 +177,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_finger2step_01" { - over "Defeatured_2F_85_PAD_OPEN_finger2step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_finger2step" { over "Defeatured_2F_85_PAD_OPEN_finger2step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -181,8 +196,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_finger2step_01" { - over "Defeatured_2F_85_PAD_OPEN_finger2step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_finger2step" { over "Defeatured_2F_85_PAD_OPEN_finger2step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -265,8 +279,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_finger3step_01" { - over "Defeatured_2F_85_PAD_OPEN_finger3step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_finger3step" { over "Defeatured_2F_85_PAD_OPEN_finger3step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -285,8 +298,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_finger3step_01" { - over "Defeatured_2F_85_PAD_OPEN_finger3step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_finger3step" { over "Defeatured_2F_85_PAD_OPEN_finger3step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -298,5 +310,14 @@ over "Robotiq_2F_85" ( } } } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + bool physxMaterial:compliantContactAccelerationSpring = 0 + float physxMaterial:compliantContactStiffness = 0 + uniform token physxMaterial:frictionCombineMode = "max" + } } diff --git a/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85.usda b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85.usda new file mode 100644 index 0000000000000000000000000000000000000000..369e957604653fb46a895411410e5719e9449795 --- /dev/null +++ b/frankarobotics_frankapanda_franka/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85.usda @@ -0,0 +1,1804 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_85" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_85" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_85" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-11-02T07:57:11.084680+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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + 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 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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 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 = 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/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_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/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + 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 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + dictionary "2026-11-01" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.075, 0.15448326, 0.15177661) + string asset_license = "CC-BY-4.0" + string asset_name = "Robotiq_2F_85" + string asset_type = "robot" + string author = "Robotiq" + string category = "robot end effector" + double mass = 0.2617397094145417 + string qcode = "Q1340324" + int rigid_body_count = 9 + string source_file = "Robotiq/2F-85/Robotiq_2F_85.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "Robotiq_2F_85" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Xform "Robotiq_2F_85" ( + kind = "component" + prepend references = [ + @./payloads/Physics/Physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + } + prepend variantSets = ["PhysX", "Newton", "MuJoCo"] +) +{ + string isaac:namespace ( + displayName = "Namespace" + doc = "Namespace of the prim in Isaac Sim" + ) + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "base_link" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "left_outer_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "left_outer_finger" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "left_inner_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "right_outer_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "right_outer_finger" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "right_inner_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/frankarobotics_frankapanda_franka/franka.usda b/frankarobotics_frankapanda_franka/franka.usda index a12031e5dbfa93e590531cfc95e9a94977160cca..50cddd73fe0bbdc2e4199c836b2c92a295685d60 100644 --- a/frankarobotics_frankapanda_franka/franka.usda +++ b/frankarobotics_frankapanda_franka/franka.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 = 1 + string provider = "simready.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/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 = 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/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 = 1 + string provider = "simready.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/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']" @@ -192,8 +1127,7 @@ 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 +1139,13 @@ 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" = { @@ -280,6 +1212,10 @@ def Xform "panda" ( variantSets = ["Gripper", "Mesh", "PhysX", "Newton", "MuJoCo"] ) { + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + over "panda_link0" { over "geometry" diff --git a/frankarobotics_frankapanda_franka/payloads/Gripper/dependencies/Materials_4.usd b/frankarobotics_frankapanda_franka/payloads/Gripper/dependencies/Materials_4.usd index d423b59bbebfef9be00a5dcf5831f863ed53450d..ae4a23df36309ce5758e663c612e5a854073e70b 100644 Binary files a/frankarobotics_frankapanda_franka/payloads/Gripper/dependencies/Materials_4.usd and b/frankarobotics_frankapanda_franka/payloads/Gripper/dependencies/Materials_4.usd differ diff --git a/frankarobotics_frankapanda_franka/payloads/Gripper/robotiq_2f_85.usda b/frankarobotics_frankapanda_franka/payloads/Gripper/robotiq_2f_85.usda index 44f157524d849e2009b50df4d7fe1b95b04e1eb7..26f1a81064d0d06dded0cfc7251be122a780828c 100644 --- a/frankarobotics_frankapanda_franka/payloads/Gripper/robotiq_2f_85.usda +++ b/frankarobotics_frankapanda_franka/payloads/Gripper/robotiq_2f_85.usda @@ -9,7 +9,7 @@ def Xform "panda" { def "Robotiq_2F_85" ( delete apiSchemas = ["PhysicsArticulationRootAPI"] - prepend payload = @../../dependencies/simready_Robotiq_2F-85/Robotiq_2F_85.usda@ + prepend payload = @../../dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85.usda@ ) { float3 xformOp:rotateZYX = (-180, -9.044342e-8, -45.000015) @@ -33,6 +33,12 @@ def Xform "panda" over "Joints" { + over "root_joint" ( + active = false + ) + { + } + over "finger_joint" { } diff --git a/frankarobotics_frankapanda_franka/payloads/Mesh/dependencies/Materials.usd b/frankarobotics_frankapanda_franka/payloads/Mesh/dependencies/Materials.usd index 8ceeff1c063b2a97b65028d8e1f5a0a201fbd81e..160f8e5dfc5a5679421ac5557db8ec2dc7bdc27e 100644 Binary files a/frankarobotics_frankapanda_franka/payloads/Mesh/dependencies/Materials.usd and b/frankarobotics_frankapanda_franka/payloads/Mesh/dependencies/Materials.usd differ diff --git a/frankarobotics_frankapanda_franka/payloads/Physics/physics.usda b/frankarobotics_frankapanda_franka/payloads/Physics/physics.usda index 18fcf341c50078d9cbf6d46470cef1208895aa2d..84b1a9c7c18d4239f30afc63f1828aae631e5e5f 100644 --- a/frankarobotics_frankapanda_franka/payloads/Physics/physics.usda +++ b/frankarobotics_frankapanda_franka/payloads/Physics/physics.usda @@ -37,7 +37,7 @@ over "panda" ( float drive:angular:physics:damping = 80 float drive:angular:physics:maxForce = 87 float drive:angular:physics:stiffness = 400 - float drive:angular:physics:targetPosition = 0.68754935 + float drive:angular:physics:targetPosition = 0 uniform token drive:angular:physics:type = "force" float jointFriction = 0 uniform token physics:axis = "X" @@ -47,11 +47,11 @@ over "panda" ( float physics:breakTorque = 3.4028233e34 point3f physics:localPos0 = (0, 0, 0.33299997) point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) + quatf physics:localRot0 = (-0.7070941, -0.0042426926, 0.7070941, -0.0042426926) quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -166.00307 - float physics:upperLimit = 166.00307 - float state:angular:physics:position = 0.68754935 + float physics:lowerLimit = -166.69061 + float physics:upperLimit = 165.31552 + float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 } @@ -98,7 +98,7 @@ over "panda" ( float drive:angular:physics:damping = 80 float drive:angular:physics:maxForce = 87 float drive:angular:physics:stiffness = 400 - float drive:angular:physics:targetPosition = -32.658596 + float drive:angular:physics:targetPosition = 0 uniform token drive:angular:physics:type = "force" float jointFriction = 0 uniform token physics:axis = "X" @@ -108,11 +108,11 @@ over "panda" ( float physics:breakTorque = 3.4028233e34 point3f physics:localPos0 = (0, 0, 0) point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.49999997, -0.49999997, -0.49999997, 0.49999997) + quatf physics:localRot0 = (-0.33925214, 0.6204096, 0.6204095, -0.33925205) quatf physics:localRot1 = (0.7071067, 0, -0.7071067, 0) - float physics:lowerLimit = -101.001 - float physics:upperLimit = 101.001 - float state:angular:physics:position = -32.658596 + float physics:lowerLimit = -68.34241 + float physics:upperLimit = 133.65959 + float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 } @@ -223,7 +223,7 @@ over "panda" ( float drive:angular:physics:damping = 80 float drive:angular:physics:maxForce = 87 float drive:angular:physics:stiffness = 400 - float drive:angular:physics:targetPosition = -161.00114 + float drive:angular:physics:targetPosition = 0 uniform token drive:angular:physics:type = "force" float jointFriction = 0 uniform token physics:axis = "X" @@ -233,11 +233,11 @@ over "panda" ( float physics:breakTorque = 3.4028233e34 point3f physics:localPos0 = (0.08249996, 0, 0) point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.4999999, 0.4999999, -0.4999999, -0.4999999) + quatf physics:localRot0 = (0.5756625, -0.41062474, 0.41062474, -0.5756625) quatf physics:localRot1 = (0.70710665, 0, -0.70710665, 0) - float physics:lowerLimit = -176.00117 - float physics:upperLimit = -3.9992452 - float state:angular:physics:position = -161.00114 + float physics:lowerLimit = -15.0000305 + float physics:upperLimit = 157.00189 + float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 } @@ -345,7 +345,7 @@ over "panda" ( float drive:angular:physics:damping = 80 float drive:angular:physics:maxForce = 12 float drive:angular:physics:stiffness = 400 - float drive:angular:physics:targetPosition = 174.00728 + float drive:angular:physics:targetPosition = 0 uniform token drive:angular:physics:type = "force" float jointFriction = 0 uniform token physics:axis = "X" @@ -355,11 +355,11 @@ over "panda" ( float physics:breakTorque = 3.4028233e34 point3f physics:localPos0 = (0, 0, 0) point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.49999988, 0.49999988, -0.49999988, -0.49999988) + quatf physics:localRot0 = (-0.47318017, 0.5254527, -0.5254527, 0.47318017) quatf physics:localRot1 = (0.70710665, 0, -0.70710665, 0) - float physics:lowerLimit = -1.0026761 - float physics:upperLimit = 215.00241 - float state:angular:physics:position = 174.00728 + float physics:lowerLimit = -175.00995 + float physics:upperLimit = 40.995132 + float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 } @@ -406,7 +406,7 @@ over "panda" ( float drive:angular:physics:damping = 80 float drive:angular:physics:maxForce = 12 float drive:angular:physics:stiffness = 400 - float drive:angular:physics:targetPosition = 42.456173 + float drive:angular:physics:targetPosition = 0 uniform token drive:angular:physics:type = "force" float jointFriction = 0 uniform token physics:axis = "X" @@ -416,11 +416,11 @@ over "panda" ( float physics:breakTorque = 3.4028233e34 point3f physics:localPos0 = (0.08799993, 0, 0) point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.4999999, 0.4999999, -0.4999999, -0.4999999) + quatf physics:localRot0 = (-0.28503242, -0.647114, 0.647114, 0.28503245) quatf physics:localRot1 = (0.70710665, 0, -0.70710665, 0) - float physics:lowerLimit = -166.00307 - float physics:upperLimit = 166.00307 - float state:angular:physics:position = 42.456173 + float physics:lowerLimit = -208.45924 + float physics:upperLimit = 123.54689 + float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 } diff --git a/frankarobotics_frankapanda_franka/payloads/instances.usda b/frankarobotics_frankapanda_franka/payloads/instances.usda index 69ee53e3bcf7d59b05051a1e1b2388ca8f084c71..d372ae81156dbd46ef98b1325bc1611aeac25d39 100644 --- a/frankarobotics_frankapanda_franka/payloads/instances.usda +++ b/frankarobotics_frankapanda_franka/payloads/instances.usda @@ -94,7 +94,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -119,7 +119,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -144,7 +144,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -169,7 +169,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -195,7 +195,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -245,7 +245,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -295,7 +295,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -361,7 +361,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -386,7 +386,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -452,7 +452,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -477,7 +477,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -543,7 +543,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -568,7 +568,7 @@ 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 } } @@ -772,7 +772,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -797,7 +797,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -822,7 +822,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -848,7 +848,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -873,7 +873,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -898,7 +898,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -972,7 +972,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -997,7 +997,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1022,7 +1022,7 @@ 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/frankarobotics_frankapanda_franka/payloads/materials.usda b/frankarobotics_frankapanda_franka/payloads/materials.usda index 378c8e0638964f585cfcc77fc37834b31dbe39ea..393b93e859e89a77637c0a24768693bb3c6be345 100644 --- a/frankarobotics_frankapanda_franka/payloads/materials.usda +++ b/frankarobotics_frankapanda_franka/payloads/materials.usda @@ -22,6 +22,7 @@ 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" ) @@ -86,9 +87,18 @@ 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 "PlasticGray" @@ -102,6 +112,7 @@ 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 +166,18 @@ 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 "PlasticWhite" @@ -171,6 +191,7 @@ 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" ) @@ -220,9 +241,18 @@ 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 "PlasticBlack" @@ -236,6 +266,7 @@ 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" ) @@ -289,9 +320,18 @@ 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 "EmissiveBlue" @@ -305,6 +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:surface ( displayGroup = "Outputs" ) @@ -388,9 +429,18 @@ 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 "RubberGreen" @@ -404,6 +454,7 @@ 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" ) @@ -446,9 +497,18 @@ 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 "RubberRed" @@ -462,6 +522,7 @@ 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" ) @@ -504,9 +565,18 @@ 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 "RubberWhite" @@ -520,6 +590,7 @@ 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" ) @@ -562,9 +633,18 @@ 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 "RubberGray" @@ -578,6 +658,7 @@ 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" ) @@ -620,9 +701,18 @@ 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 "RubberLightGray" @@ -636,6 +726,7 @@ 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" ) @@ -667,9 +758,18 @@ 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 "AluminumRough" @@ -680,6 +780,7 @@ 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" ) @@ -744,9 +845,18 @@ 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 "rubber_cable" @@ -757,6 +867,7 @@ 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" ) @@ -832,9 +943,18 @@ 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/frankarobotics_frankapanda_franka/runnables/physics/newton.usda b/frankarobotics_frankapanda_franka/runnables/physics/newton.usda index b18326aa222b8f0ebfd126616ed9ac8728650dd3..c92a0c93f0608ff9d41c2ecd83ef9456a965d2a7 100644 --- a/frankarobotics_frankapanda_franka/runnables/physics/newton.usda +++ b/frankarobotics_frankapanda_franka/runnables/physics/newton.usda @@ -30,18 +30,13 @@ over "panda" ( { float drive:angular:physics:damping = 0 float drive:angular:physics:stiffness = 26.18 - float drive:angular:physics:targetPosition = 0 float newton:damping = 0.872665 float newton:velocityLimit = 124.61832 - float state:angular:physics:position = 0 } } over "panda_link1" { - quatf xformOp:orient = (1, 0, 0, 0) - float3 xformOp:translate = (9.685754e-10, 1.2636184e-7, 0.33300033) - over "geometry" { over "panda_link1" @@ -62,18 +57,13 @@ over "panda" ( float drive:angular:physics:damping = 0 float drive:angular:physics:maxForce = 200 float drive:angular:physics:stiffness = 120 - float drive:angular:physics:targetPosition = 0 float newton:damping = 2.2 float newton:velocityLimit = 124.61832 - float state:angular:physics:position = 0 } } over "panda_link2" { - quatf xformOp:orient = (-0.7071066, 0.70710695, -1.4901161e-8, 1.359731e-7) - float3 xformOp:translate = (6.081536e-9, -1.1205673e-7, 0.33300003) - over "geometry" { over "panda_link2" @@ -100,9 +90,6 @@ over "panda" ( over "panda_link3" { - quatf xformOp:orient = (1, -2.9802318e-8, -9.6294737e-8, 1.2000987e-8) - float3 xformOp:translate = (0, -3.7670133e-8, 0.64899992) - over "geometry" { over "panda_link3" @@ -122,18 +109,13 @@ over "panda" ( { float drive:angular:physics:damping = 0 float drive:angular:physics:stiffness = 52.36 - float drive:angular:physics:targetPosition = -6.864077 float newton:damping = 0.872665 float newton:velocityLimit = 124.61832 - float state:angular:physics:position = -6.864077 } } over "panda_link4" { - quatf xformOp:orient = (0.70583873, 0.70583828, 0.04233069, -0.042330728) - float3 xformOp:translate = (0.082499976, -4.0607354e-8, 0.64899994) - over "geometry" { over "panda_link4" @@ -160,9 +142,6 @@ over "panda" ( over "panda_link5" { - quatf xformOp:orient = (0.99820644, -4.0121148e-8, 0.059864456, -1.1987937e-8) - float3 xformOp:translate = (0.046484785, 8.4562946e-8, 1.0401073) - over "geometry" { over "panda_link5" @@ -182,18 +161,13 @@ over "panda" ( { float drive:angular:physics:damping = 0 float drive:angular:physics:stiffness = 6.02 - float drive:angular:physics:targetPosition = 1.864 float newton:damping = 0.100306 float newton:velocityLimit = 149.542 - float state:angular:physics:position = 1.864 } } over "panda_link6" { - quatf xformOp:orient = (0.70643388, 0.70643312, 0.030844157, -0.03084411) - float3 xformOp:translate = (0.046484785, 8.4562946e-8, 1.0401073) - over "geometry" { over "panda_link6" @@ -213,18 +187,13 @@ over "panda" ( { float drive:angular:physics:damping = 0 float drive:angular:physics:stiffness = 3.0092 - float drive:angular:physics:targetPosition = 0 float newton:damping = 0.100306 float newton:velocityLimit = 149.542 - float state:angular:physics:position = 0 } } over "panda_link7" { - quatf xformOp:orient = (2.4293913e-7, 0.99904799, 2.4040382e-8, -0.043620166) - float3 xformOp:translate = (0.13414985, 4.7083044e-8, 1.0324375) - over "geometry" { over "panda_link7" @@ -241,9 +210,6 @@ over "panda" ( over "panda_hand" { - quatf xformOp:orient = (-0.016692537, 0.92299993, 0.38231924, -0.040299726) - float3 xformOp:translate = (0.12482406, 2.4826484e-8, 0.92584467) - over "geometry" { over "panda_hand" ( @@ -279,9 +245,6 @@ over "panda" ( over "panda_rightfinger" { - quatf xformOp:orient = (-0.016692537, 0.92299993, 0.38231924, -0.040299726) - float3 xformOp:translate = (0.11973411, -1.5259584e-8, 0.86766699) - over "geometry" { over "panda_rightfinger" ( @@ -295,9 +258,6 @@ over "panda" ( over "panda_leftfinger" { - quatf xformOp:orient = (-0.016692537, 0.92299993, 0.38231924, -0.040299726) - float3 xformOp:translate = (0.11973411, -1.5259584e-8, 0.86766699) - over "geometry" { over "panda_leftfinger" ( diff --git a/i2rt_yam/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/i2rt_yam/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index fab61c657cce66f0d48defaa60f6311985fb2f3d..105fb5f42bc706de2e9d6e36ee5968e9fddfa851 100644 --- a/i2rt_yam/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/i2rt_yam/.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": "2026-10-26T18:20:01", + "timestamp": "2026-11-02T23:11:36", "assets": [ { "asset": "yam.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": "9ecad4dff745fd0dbdc755ed1589982238903602af456a3e91903d5605479ed2" + "sha256": "a8b1f3c07d69be036bd93b04cd2ca16405a10602ec86189257e9553c8592235d" } } diff --git a/i2rt_yam/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/i2rt_yam/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..020fce8315ed5fc9997e464d65369951387bcdf6 100644 --- a/i2rt_yam/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/i2rt_yam/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:11:38", "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/i2rt_yam/.metadata/com.nvidia.simready.packaging.bom.json b/i2rt_yam/.metadata/com.nvidia.simready.packaging.bom.json index 483f8de4f8bc319afe9c19534472a4ccc1e13b49..6ea77ba5567faae6306f1d7f92de6d180d15352d 100644 --- a/i2rt_yam/.metadata/com.nvidia.simready.packaging.bom.json +++ b/i2rt_yam/.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/i2rt_yam/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/i2rt_yam/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": "94c26e5ce2190c5181f980a293c9abec44a09dbedac47806c8a3bc8b038e2d56" } }, - { - "relative_path": ".thumbs/yam.thumb.usd", - "size": 6120, - "hash": { - "sha256-flat-1mb": "74127b8f197df1fb5fef2174563f9d0823fee1bd48c8a41fde42a60b6514a5c1", - "sha256": "2e89139fc0fbf6ce1e6bdf656ed8b4a05c7ecdb24ee901ae77f84a634a58546f" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -133,10 +125,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 6136, + "size": 6184, "hash": { - "sha256-flat-1mb": "874d66ad2b7ff5d8ae68537498800f6ccff92da0c8fc70569654c37f3cbee626", - "sha256": "3f43d754ae5f08e47b624cac6671f64809d3cbde1bab16c5b3a1b6011f27e195" + "sha256-flat-1mb": "9b1ecf176444dd4045e4cfb98b0774819e0587d37956e91b6039399a0287290a", + "sha256": "015b25f96f7fa7e4572dbe40b2af6bb88f7f66dd92c21df9933194dc20eef3ce" } }, { @@ -173,11 +165,11 @@ }, { "relative_path": "yam.usda", - "size": 14855, + "size": 80421, "hash": { - "sha256-flat-1mb": "b070e5b7a7180bf20259270c44b9239f70e11fe48b199247bd94798415fe47ff", - "sha256": "b0a1823585885566f3095ec172dd34a04f235dc1a4cc32e2fd7a59d41189b29f" + "sha256-flat-1mb": "49b89a712c4e60b5fdd9af022acc1d93af085e07a382a17c2d2770c79bc46a16", + "sha256": "fec5641f8c8a4f55ecf00f91a314d804ae93208a602615924376876c6a4f7b8c" } } ] -} +} \ No newline at end of file diff --git a/i2rt_yam/.simready/validation.json b/i2rt_yam/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/i2rt_yam/.simready/validation.json +++ b/i2rt_yam/.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", + "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", + 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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/i2rt_yam/.thumbs/yam.thumb.usd b/i2rt_yam/.thumbs/yam.thumb.usd deleted file mode 100644 index 1197db7656ddb3ac18f9401f94cce01faed58bc0..0000000000000000000000000000000000000000 Binary files a/i2rt_yam/.thumbs/yam.thumb.usd and /dev/null differ diff --git a/i2rt_yam/com.nvidia.simready.packaging.json b/i2rt_yam/com.nvidia.simready.packaging.json index 52147b3e7890752568b3ebd02099f3a5f16c2dd8..1eb37db2a06026ad16cd8720c8735422e880cbf0 100644 --- a/i2rt_yam/com.nvidia.simready.packaging.json +++ b/i2rt_yam/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.i2rt_yam.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.i2rt_yam.3.0.0", "license": "unknown", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "a87f9727b07549da494bdf3409e8a6162bc96e5cb6990019cf57069587f70a58" + "sha256": "2e24d0234906cb3df162cb90d071023d2098cf46bb3c6d8e0476ae6265a1f2d5" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "ecada07ca5b15f8ad8a19536ac4c3e680c5d8fc8d867a413a4b626f9f9f625b0" + "sha256": "f5df7ab49613e0d7f82250d0e82624e66751cb4e067384ef756c4298d7e2a42d" } }, { @@ -23,9 +23,9 @@ } ], "content_hash": { - "sha256": "11fe55d3dd04a4627abb1c43e3397d729b56e65f1c986823555f3b037e2b3a2d" + "sha256": "a8b1f3c07d69be036bd93b04cd2ca16405a10602ec86189257e9553c8592235d" }, "package_hash": { - "sha256": "97ae1fe3a1e959dcd80a2f9dbc7a4ee7c44d73180db45efa529a16412f44c5fa" + "sha256": "5a3258cd877a0e79488802e99b93e070b5a8c9c498184ec810ef964ade914646" } -} +} \ No newline at end of file diff --git a/i2rt_yam/payloads/materials.usda b/i2rt_yam/payloads/materials.usda index 91bee9a63070a8f7c9d1096d9445b4ff682862a8..1eafaa2abdde69e42170bb133081304679d2d5ff 100644 --- a/i2rt_yam/payloads/materials.usda +++ b/i2rt_yam/payloads/materials.usda @@ -34,8 +34,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -57,7 +57,7 @@ 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@ @@ -66,7 +66,7 @@ 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) @@ -90,8 +90,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -113,7 +113,7 @@ 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@ @@ -122,7 +122,7 @@ 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) diff --git a/i2rt_yam/yam.usda b/i2rt_yam/yam.usda index 231e366c666569692ea08cad777a8bdb030deb80..e9be0fa3e6f1c851e67a3178c9c61d5d6bc2ac07 100644 --- a/i2rt_yam/yam.usda +++ b/i2rt_yam/yam.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']" @@ -257,16 +1207,16 @@ string usd_date_generated = "2026-10-02" } defaultPrim = "urdf_top_assembly" - doc = """Generated from Composed Stage of root layer /tmp/tmp3aw5d8y4/urdf_top_assembly.usdc\r -\r -\r -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/usdex_yam/urdf_top_assembly.usdc\r -\r -\r -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/temp_yam/yam.usd\r -\r -\r -Generated from Composed Stage of root layer /home/stevfeng/Downloads/i2rt/i2rt/robot_models/arm/yam/yam_1/payloads/base.usd\r + doc = """Generated from Composed Stage of root layer /tmp/tmp3aw5d8y4/urdf_top_assembly.usdc\r\r +\r\r +\r\r +Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/usdex_yam/urdf_top_assembly.usdc\r\r +\r\r +\r\r +Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/temp_yam/yam.usd\r\r +\r\r +\r\r +Generated from Composed Stage of root layer /home/stevfeng/Downloads/i2rt/i2rt/robot_models/arm/yam/yam_1/payloads/base.usd\r\r """ kilogramsPerUnit = 1 metersPerUnit = 1 diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 6525a81c410487d4a57e77986402f94e8a6865ea..3635888169843a16b7953859634c5696766d83d0 100644 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/kawasaki_rs007l_rs007l_onrobot_rg2/.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": "2026-10-26T18:20:03", + "timestamp": "2026-11-02T23:11:38", "assets": [ { "asset": "rs007l_onrobot_rg2.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": "8e066afcf5ce94494a94e10149f2c99eb99a82e580e143a4c4ea103fa863b9d9" + "sha256": "4a52d0114757b7423df8f0bd7b0e7777da1c4544e3d3f3e69c4b26a3eb3ac890" } } diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..b99c4eef5dffdce9e071b84a87ddfa15bf069568 100644 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/kawasaki_rs007l_rs007l_onrobot_rg2/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:11:40", "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/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json b/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json index 514bf6a1b40d40b5437b4f62b42970109454c594..215868a21903e777bcfa7da3919997ce1faff11e 100644 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json +++ b/kawasaki_rs007l_rs007l_onrobot_rg2/.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/kawasaki_rs007l_rs007l_onrobot_rg2/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/kawasaki_rs007l_rs007l_onrobot_rg2/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7841, + "size": 49425, "hash": { - "sha256-flat-1mb": "b6a99fe0a1258ff8a29f736b6ebeb9fbb7f1684d55ff1d80ff62073c2a8f5fcf", - "sha256": "1222a1f254a904edf396d5ba3cf731c82a5c9511af4fc8af5401bd9e52b02e77" + "sha256-flat-1mb": "0a4f834047dcd7425b62be9a4e812bebe2acec9be4d178ab8a99801d1861305c", + "sha256": "8451dd63bc4ae22a9642193a9aee18c8c9e6e22eb33bb239f9537f7f83d8e8bd" } }, { @@ -18,14 +18,6 @@ "sha256": "137038b21a25f794604d6b46d37a009fb5b3cde9aa1705226a311f549b3b732a" } }, - { - "relative_path": ".thumbs/rs007l_onrobot_rg2.thumb.usd", - "size": 6135, - "hash": { - "sha256-flat-1mb": "c73f3027bd27897259a45016c78f70671618276ff0e060f55faaf36d9b86cd99", - "sha256": "bd23d3ca2868b12ece69ad3126ae6db6fedafc415d2659d81bec13a10b4d8253" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -125,18 +117,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 18586, + "size": 18597, "hash": { - "sha256-flat-1mb": "b26c4d1942475a3f13312e858125927259b982a18f59505665f25de78ef651c2", - "sha256": "695b88cc86af3274bd823b1c54281503a6357414c13b218fc873c28275b0eca4" + "sha256-flat-1mb": "addeb8ffa8fd7e0da6eab74e4a27c55a4faf1b471916513bb5a4c28b90262018", + "sha256": "072b2de6bf80f91b81b198cc19829f6196bfe86162eaa5a10ed894eb7d70e9cb" } }, { "relative_path": "payloads/materials.usda", - "size": 7323, + "size": 9061, "hash": { - "sha256-flat-1mb": "a48476beb9bec853acbb4f1a4f32159c1f14685938fea91a6213679a42e78334", - "sha256": "1acf819c349e5c34a558dd6d0b0e23d6d90de0e5bd9e9d6e4dd51c9e9376bf13" + "sha256-flat-1mb": "32bfabacc2a786b701dc9e98309ee10864c3af0b372383deafc18d4a02f7eb88", + "sha256": "c06b410e364e43175d6d9ec2f25b1d3663ce2e292452a70ccf00cb9149cd095a" } }, { @@ -149,10 +141,10 @@ }, { "relative_path": "rs007l_onrobot_rg2.usda", - "size": 18460, + "size": 83734, "hash": { - "sha256-flat-1mb": "0c3fad3dbc3a32067d60a80193fc118f38d89f759749a62b007f4cbb2e3f4b55", - "sha256": "4459a166fe1dfec44b7e278013acecd1993dae749b78e21ec43eee844b490ecb" + "sha256-flat-1mb": "65489d8a5185d33109688eb5b553a0eea877c7daf2caefcd19e18629145f7149", + "sha256": "6f67026d1f6f464272b932da842e67ac9e1d4133049fa491155db963e638ed25" } }, { @@ -173,11 +165,11 @@ }, { "relative_path": "runnables/physics/physx.usda", - "size": 8790, + "size": 11137, "hash": { - "sha256-flat-1mb": "19d2ff30c8a128070757e4447a41f9c23f642ce947a839382ffe23dbb930e5ae", - "sha256": "891f924e934340e3a6528b5d849ee9ae43a418c136d879a506c61a6156e55343" + "sha256-flat-1mb": "edd490e6c15f0b5276c89802cba2cc101023ae6fd4216c971bffad19fbb14252", + "sha256": "c56775dbb1f1263ea42ead04c327fb250a3b85cc6e565423d480960bdb680c6c" } } ] -} +} \ No newline at end of file diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/.simready/validation.json b/kawasaki_rs007l_rs007l_onrobot_rg2/.simready/validation.json index a33c73454356f791f9a1374d0bba5b5f8146d3ac..bc75ce3b43ab70760368c12c56235b79306f3b91 100644 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/.simready/validation.json +++ b/kawasaki_rs007l_rs007l_onrobot_rg2/.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": "/.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": 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27b284a0c00dbe00add3a1230b3317cca557d7a9..1f0f8d41db947a4cf5ecaa9ff91ab6be4c562a1a 100644 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/com.nvidia.simready.packaging.json +++ b/kawasaki_rs007l_rs007l_onrobot_rg2/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.kawasaki_rs007l_rs007l_onrobot_rg2.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.kawasaki_rs007l_rs007l_onrobot_rg2.3.0.0", "license": "unknown", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "8415ae594a66389f581968f48aa9eef97b61ea805f4aedad068975748d5d74a0" + "sha256": "1fbb267b4196774ce78b2fbaf08260f6309752b79b99c2bde627c745270a6f24" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "53e7aa4a8aa6e7094af6c3056e8597a1357662b85ab8b650a603c050b9a650ff" + "sha256": "ed1cb4c333e713e05dfde4daca86c8017447caaeebfa07269c5b234f2a5919a7" } }, { @@ -23,9 +23,9 @@ } ], "content_hash": { - "sha256": "401effdbf9d532d92b9405a1927cdc57c7ec79376ae031fd348d085b4252cd95" + "sha256": "4a52d0114757b7423df8f0bd7b0e7777da1c4544e3d3f3e69c4b26a3eb3ac890" }, "package_hash": { - "sha256": "fa51dd72ad67cba6c3e985ff5dcf3fb810b4219f55723892e4ffaeae5f3f7214" + "sha256": "b200ae914456a3b8ccbdabb33b926fae4fdf45cdd2ecb1316a80d17a7b4acb4b" } -} +} \ No newline at end of file diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/instances.usda b/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/instances.usda index f4314c48e4784e793d5dd08b14d897390df9c596..180b6f4273a8699f8582f1e604565d1ebebca024 100644 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/instances.usda +++ b/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/instances.usda @@ -45,7 +45,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -98,7 +98,7 @@ 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 } } @@ -204,7 +204,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -257,7 +257,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -310,7 +310,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -363,7 +363,7 @@ 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 } } @@ -469,7 +469,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -522,7 +522,7 @@ 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 } } diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/materials.usda b/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/materials.usda index 0f62a5be242927b42161155a263c36c68b2fd5a2..c53c57af2a52e0f3b71fd7ecf09f39f7ac412971 100644 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/materials.usda +++ b/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/materials.usda @@ -22,6 +22,7 @@ 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" ) @@ -54,9 +55,18 @@ 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 "material_Black" @@ -70,6 +80,7 @@ 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" ) @@ -102,9 +113,18 @@ 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 "material_CCCCCC" @@ -118,6 +138,7 @@ 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" ) @@ -150,9 +171,18 @@ 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 "material_191919" @@ -166,6 +196,7 @@ 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" ) @@ -198,9 +229,18 @@ 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/kawasaki_rs007l_rs007l_onrobot_rg2/rs007l_onrobot_rg2.usda b/kawasaki_rs007l_rs007l_onrobot_rg2/rs007l_onrobot_rg2.usda index fc9eb563eab3975f3bd5ddf37a7c3a5627581061..deb0752a6104ff878493378e8cffc615d39fe675 100644 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/rs007l_onrobot_rg2.usda +++ b/kawasaki_rs007l_rs007l_onrobot_rg2/rs007l_onrobot_rg2.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 = 1 + string provider = "simready.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/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 = 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/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 = 1 + string provider = "simready.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/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" = { @@ -299,6 +1246,9 @@ def Xform "khi_rs007l" ( , , ] + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) over "base_link" { diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/runnables/physics/physx.usda b/kawasaki_rs007l_rs007l_onrobot_rg2/runnables/physics/physx.usda index d33dc38dc0db68ba6ed0121251492b36d66b82a0..8af95e77266cd7b25e1c12cc27b613b24d8bc07b 100644 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/runnables/physics/physx.usda +++ b/kawasaki_rs007l_rs007l_onrobot_rg2/runnables/physics/physx.usda @@ -197,30 +197,54 @@ over "khi_rs007l" ( } over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physics:lowerLimit = -44.99999 + float physics:upperLimit = 31.999977 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physics:lowerLimit = -44.99999 + float physics:upperLimit = 31.999977 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physics:lowerLimit = -44.99999 + float physics:upperLimit = 31.999977 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "collisions" @@ -239,12 +263,18 @@ over "khi_rs007l" ( bool physxRigidBody:disableGravity = 1 over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "collisions" @@ -308,12 +338,18 @@ over "khi_rs007l" ( bool physxRigidBody:disableGravity = 1 over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "collisions" @@ -339,5 +375,10 @@ over "khi_rs007l" ( } } } + + over "__fixed_base_joint" + { + bool physics:jointEnabled = 0 + } } diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kawasaki_rs007n_rs007n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 13a1cb29ea6cf48c879ed4c7fdb5aac59ff8956e..427e3ff510eb261f4cf647d494d8d60d76f1c858 100644 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/kawasaki_rs007n_rs007n_onrobot_rg2/.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": "2026-10-26T18:20:05", + "timestamp": "2026-11-02T23:11:41", "assets": [ { "asset": "rs007n_onrobot_rg2.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": "c75c807553b577d9b68cfe60f91b1d0a5e590fce5ea50320b7d79f4d302ec88a" + "sha256": "2da13adbc5d5a969bb3e263b5af8b78e8d5ad79aa46a1d59e99f76633fef2976" } } diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/kawasaki_rs007n_rs007n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..838c0004d00ddce16f96dab604cbff6b945f55d1 100644 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/kawasaki_rs007n_rs007n_onrobot_rg2/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:11:43", "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/kawasaki_rs007n_rs007n_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json b/kawasaki_rs007n_rs007n_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json index 894ce281643f7e674179a5eacd02ae37e72c2622..4484fd079e142c25b3439eee7d0368069b3b5161 100644 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json +++ b/kawasaki_rs007n_rs007n_onrobot_rg2/.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/kawasaki_rs007n_rs007n_onrobot_rg2/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/kawasaki_rs007n_rs007n_onrobot_rg2/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7841, + "size": 49425, "hash": { - "sha256-flat-1mb": "b6a99fe0a1258ff8a29f736b6ebeb9fbb7f1684d55ff1d80ff62073c2a8f5fcf", - "sha256": "1222a1f254a904edf396d5ba3cf731c82a5c9511af4fc8af5401bd9e52b02e77" + "sha256-flat-1mb": "0a4f834047dcd7425b62be9a4e812bebe2acec9be4d178ab8a99801d1861305c", + "sha256": "8451dd63bc4ae22a9642193a9aee18c8c9e6e22eb33bb239f9537f7f83d8e8bd" } }, { @@ -18,14 +18,6 @@ "sha256": "1a2a2a53403380da8e2c3b647693102e42f0481c1fd209709acc4515ed963bda" } }, - { - "relative_path": ".thumbs/rs007n_onrobot_rg2.thumb.usd", - "size": 6135, - "hash": { - "sha256-flat-1mb": "2708bc74ba3c734a19291f5bff89d591ca5cbe36b603f893ed7a78b716a8918f", - "sha256": "09ecd1ef8cc02c8fdf02248352d3bf59d091c9841ea308447c45d2729d8fa8d8" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -125,18 +117,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 18586, + "size": 18597, "hash": { - "sha256-flat-1mb": "b26c4d1942475a3f13312e858125927259b982a18f59505665f25de78ef651c2", - "sha256": "695b88cc86af3274bd823b1c54281503a6357414c13b218fc873c28275b0eca4" + "sha256-flat-1mb": "addeb8ffa8fd7e0da6eab74e4a27c55a4faf1b471916513bb5a4c28b90262018", + "sha256": "072b2de6bf80f91b81b198cc19829f6196bfe86162eaa5a10ed894eb7d70e9cb" } }, { "relative_path": "payloads/materials.usda", - "size": 7322, + "size": 9060, "hash": { - "sha256-flat-1mb": "5056635869214686557f416c6e57e44c9083942f4eccf873b731ef264928f638", - "sha256": "23bcced61709da231df2c71ede121dbfdfb3ad6a5be8a104d77df3cac4719fcc" + "sha256-flat-1mb": "410597a06fa60c2bd53bc51716ebc75d7a0a99a96c7bb8dda74578687d483cad", + "sha256": "04e4006b5024dbf0df9a972a3bda2092e9f29a43c484fc28e50a2eafd39461d8" } }, { @@ -149,10 +141,10 @@ }, { "relative_path": "rs007n_onrobot_rg2.usda", - "size": 18439, + "size": 83713, "hash": { - "sha256-flat-1mb": "5f8af48c28ea201c17dfb6f1370ee1c34f2e017bb033c0866ec58e0c29159192", - "sha256": "0b1afbb91aa09b0f58b7b8539cf50d3fec4a38003a28a96af769d496359579bf" + "sha256-flat-1mb": "9c31e90011b98bca5a91a1ab4f47fb249782bff5be839a6fe26703fd98079d14", + "sha256": "633929b786c75f40bd620f3d4176d3c481a7516f418386c29404663be7fe7c41" } }, { @@ -173,11 +165,11 @@ }, { "relative_path": "runnables/physics/physx.usda", - "size": 8796, + "size": 11143, "hash": { - "sha256-flat-1mb": "bee8ba8739d680d458fa4b42244120131a8ce7e34f753500756e0d59bf7a0466", - "sha256": "2a1fd43b2f67a9107f51693386220121056c83a58a76f726c040de360e584f38" + "sha256-flat-1mb": "aebff61fc48070d191310defa72fd84f1b09f60169dfd07074bad279c4e3a0d5", + "sha256": "f46e634f1f572fb5bc6fa1aed60df1742f41077514715a29c3f8058dae6ee344" } } ] -} +} \ No newline at end of file diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/.simready/validation.json b/kawasaki_rs007n_rs007n_onrobot_rg2/.simready/validation.json index a33c73454356f791f9a1374d0bba5b5f8146d3ac..bc75ce3b43ab70760368c12c56235b79306f3b91 100644 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/.simready/validation.json +++ b/kawasaki_rs007n_rs007n_onrobot_rg2/.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": "/.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" + } + ], 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a/kawasaki_rs007n_rs007n_onrobot_rg2/.thumbs/rs007n_onrobot_rg2.thumb.usd b/kawasaki_rs007n_rs007n_onrobot_rg2/.thumbs/rs007n_onrobot_rg2.thumb.usd deleted file mode 100644 index 0e4648815bd750e6bc31cce6015efe87c06fa76c..0000000000000000000000000000000000000000 Binary files a/kawasaki_rs007n_rs007n_onrobot_rg2/.thumbs/rs007n_onrobot_rg2.thumb.usd and /dev/null differ diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/com.nvidia.simready.packaging.json b/kawasaki_rs007n_rs007n_onrobot_rg2/com.nvidia.simready.packaging.json index 7d129903915a06e18ce999ae977e4958dae1bec7..90091b6a747ff0fb3d47bea42749d6d583460bed 100644 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/com.nvidia.simready.packaging.json +++ b/kawasaki_rs007n_rs007n_onrobot_rg2/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.kawasaki_rs007n_rs007n_onrobot_rg2.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.kawasaki_rs007n_rs007n_onrobot_rg2.3.0.0", "license": "unknown", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "65b230ec4510b4c8d208d5115f5aea76774eb1745b9531553579f033a8fd692d" + "sha256": "ce27a9f7506aeae695fee54b5046a378d5c3520909c173c7be9775d822181694" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "00120971971010ec7d8f89035db01c58da831671a577b316ed5242354063e2f0" + "sha256": "0262fd75c31d4b8b19226a0ddc059e0733cac22558e7fe86371196f9d3ae5d52" } }, { @@ -23,9 +23,9 @@ } ], "content_hash": { - "sha256": "e715881561e30c8f55dd7ef74a859d1535257f4de1bb1c78a53fcbf2785e57c9" + "sha256": "2da13adbc5d5a969bb3e263b5af8b78e8d5ad79aa46a1d59e99f76633fef2976" }, "package_hash": { - "sha256": "72484f2e99ab14c215530d4e812226be73dda8773a25e6ebc57cdfa6e445595f" + "sha256": "604ba7b7fc5b973c472b7b6a5ebf74825383c4388f50531817100113b2574eea" } -} +} \ No newline at end of file diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/instances.usda b/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/instances.usda index f4314c48e4784e793d5dd08b14d897390df9c596..180b6f4273a8699f8582f1e604565d1ebebca024 100644 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/instances.usda +++ b/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/instances.usda @@ -45,7 +45,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -98,7 +98,7 @@ 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 } } @@ -204,7 +204,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -257,7 +257,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -310,7 +310,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -363,7 +363,7 @@ 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 } } @@ -469,7 +469,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -522,7 +522,7 @@ 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 } } diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/materials.usda b/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/materials.usda index 5c1d845755676e7c0d417bbbb430c11a9165b809..8a78008ea5742087a1234ed8b426780a63360dce 100644 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/materials.usda +++ b/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/materials.usda @@ -22,6 +22,7 @@ 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" ) @@ -54,9 +55,18 @@ 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 "material_Black" @@ -70,6 +80,7 @@ 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" ) @@ -102,9 +113,18 @@ 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 "material_CCCCCC" @@ -118,6 +138,7 @@ 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" ) @@ -150,9 +171,18 @@ 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 "material_191919" @@ -166,6 +196,7 @@ 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" ) @@ -198,9 +229,18 @@ 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/kawasaki_rs007n_rs007n_onrobot_rg2/rs007n_onrobot_rg2.usda b/kawasaki_rs007n_rs007n_onrobot_rg2/rs007n_onrobot_rg2.usda index f9cb612ae0770b8ae8c2c8c0422b59dc393a1a91..2db705b449c9a1f03ce5f30e358cb298f6d4ed72 100644 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/rs007n_onrobot_rg2.usda +++ b/kawasaki_rs007n_rs007n_onrobot_rg2/rs007n_onrobot_rg2.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 = 1 + string provider = "simready.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/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 = 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/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 = 1 + string provider = "simready.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/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" = { @@ -299,6 +1246,9 @@ def Xform "khi_rs007n" ( , , ] + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) over "base_link" { diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/runnables/physics/physx.usda b/kawasaki_rs007n_rs007n_onrobot_rg2/runnables/physics/physx.usda index 095d677cb9b6d6ae75bf66cc8a4c4dd1b88764be..42de95e33e42d291c1a03e5bf3db039ed250cfc1 100644 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/runnables/physics/physx.usda +++ b/kawasaki_rs007n_rs007n_onrobot_rg2/runnables/physics/physx.usda @@ -197,30 +197,54 @@ over "khi_rs007n" ( } over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physics:lowerLimit = -44.99999 + float physics:upperLimit = 31.999977 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physics:lowerLimit = -44.99999 + float physics:upperLimit = 31.999977 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physics:lowerLimit = -44.99999 + float physics:upperLimit = 31.999977 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "collisions" @@ -239,12 +263,18 @@ over "khi_rs007n" ( bool physxRigidBody:disableGravity = 1 over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "collisions" @@ -308,12 +338,18 @@ over "khi_rs007n" ( bool physxRigidBody:disableGravity = 1 over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "collisions" @@ -339,5 +375,10 @@ over "khi_rs007n" ( } } } + + over "__fixed_base_joint" + { + bool physics:jointEnabled = 0 + } } diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kawasaki_rs013n_rs013n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 3d398180367398edaa7aac86cddf841e40d0e846..3d8caa1dbdcefb3c3e63b316797e13256e162458 100644 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/kawasaki_rs013n_rs013n_onrobot_rg2/.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": "2026-10-26T18:20:08", + "timestamp": "2026-11-02T23:11:44", "assets": [ { "asset": "rs013n_onrobot_rg2.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": "89165d73bcb9c61a14e7061a07d704fad387b14c23494f9443222b2ac490a1a4" + "sha256": "347742392cb970f9a399ec0218c1bb2d31b7dc884a9b758d85dcce1d77d5e964" } } diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/kawasaki_rs013n_rs013n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..7a33555066552dfa7ea935b6e1f0369a2f407db1 100644 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/kawasaki_rs013n_rs013n_onrobot_rg2/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:11:46", "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/kawasaki_rs013n_rs013n_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json b/kawasaki_rs013n_rs013n_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json index 7f5257f98d82bd3fa0895fa6b5da57a28bc2075a..e48b2708136203e10a02214676449aaa110b70e2 100644 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json +++ b/kawasaki_rs013n_rs013n_onrobot_rg2/.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/kawasaki_rs013n_rs013n_onrobot_rg2/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/kawasaki_rs013n_rs013n_onrobot_rg2/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7841, + "size": 49425, "hash": { - "sha256-flat-1mb": "b6a99fe0a1258ff8a29f736b6ebeb9fbb7f1684d55ff1d80ff62073c2a8f5fcf", - "sha256": "1222a1f254a904edf396d5ba3cf731c82a5c9511af4fc8af5401bd9e52b02e77" + "sha256-flat-1mb": "0a4f834047dcd7425b62be9a4e812bebe2acec9be4d178ab8a99801d1861305c", + "sha256": "8451dd63bc4ae22a9642193a9aee18c8c9e6e22eb33bb239f9537f7f83d8e8bd" } }, { @@ -18,14 +18,6 @@ "sha256": "9a49c62f7b47287202fec13d5e8abc0dc8d70ae2489f9e00657d159ebfe9f483" } }, - { - "relative_path": ".thumbs/rs013n_onrobot_rg2.thumb.usd", - "size": 6111, - "hash": { - "sha256-flat-1mb": "53859048b7bd1029639771f630aaf941f55d0b40b27db0cf02daf0389d35aeb8", - "sha256": "2ac2be4ea653e2a2d8c635ab32d57f28a42e788c38be31567a0e35b851ac5244" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -125,18 +117,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 18586, + "size": 18597, "hash": { - "sha256-flat-1mb": "b26c4d1942475a3f13312e858125927259b982a18f59505665f25de78ef651c2", - "sha256": "695b88cc86af3274bd823b1c54281503a6357414c13b218fc873c28275b0eca4" + "sha256-flat-1mb": "addeb8ffa8fd7e0da6eab74e4a27c55a4faf1b471916513bb5a4c28b90262018", + "sha256": "072b2de6bf80f91b81b198cc19829f6196bfe86162eaa5a10ed894eb7d70e9cb" } }, { "relative_path": "payloads/materials.usda", - "size": 7322, + "size": 9060, "hash": { - "sha256-flat-1mb": "5056635869214686557f416c6e57e44c9083942f4eccf873b731ef264928f638", - "sha256": "23bcced61709da231df2c71ede121dbfdfb3ad6a5be8a104d77df3cac4719fcc" + "sha256-flat-1mb": "410597a06fa60c2bd53bc51716ebc75d7a0a99a96c7bb8dda74578687d483cad", + "sha256": "04e4006b5024dbf0df9a972a3bda2092e9f29a43c484fc28e50a2eafd39461d8" } }, { @@ -149,10 +141,10 @@ }, { "relative_path": "rs013n_onrobot_rg2.usda", - "size": 18439, + "size": 83713, "hash": { - "sha256-flat-1mb": "82f54fc8d0fdd3257ad30ecf447c4255ad7b0c025681059a249617207172ed21", - "sha256": "ed0c9c20bb989ecd6d61cbcdd2dac665d2850f789b72000a8f24eaca39a86212" + "sha256-flat-1mb": "e190e4901e13dddb4b602de3506d985c843906e5a03b8f191bc0c6df768e1712", + "sha256": "f3249f951cac75fda985e0bbe34ad4eb8d2671b3057e6862c92713ee62befc8f" } }, { @@ -173,11 +165,11 @@ }, { "relative_path": "runnables/physics/physx.usda", - "size": 8789, + "size": 11136, "hash": { - "sha256-flat-1mb": "26c90f0c510025ddd7600c58599245788830633f9660263e44a940744cd604c3", - "sha256": "aa13ef128d7accc508e3ece91254dba3d26b4022cc1e13f59561303c50027212" + "sha256-flat-1mb": "72c1a31cbcae031aed620c697b91378dad967941cd5880eb5b92a212ca554c05", + "sha256": "1927980dce7d858a47ad580a1b49534137a9762c6a176f4889af2c0f5898f0b2" } } ] -} +} \ No newline at end of file diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/.simready/validation.json b/kawasaki_rs013n_rs013n_onrobot_rg2/.simready/validation.json index a33c73454356f791f9a1374d0bba5b5f8146d3ac..bc75ce3b43ab70760368c12c56235b79306f3b91 100644 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/.simready/validation.json +++ b/kawasaki_rs013n_rs013n_onrobot_rg2/.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": "/.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" + } 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"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/kawasaki_rs013n_rs013n_onrobot_rg2/.thumbs/rs013n_onrobot_rg2.thumb.usd b/kawasaki_rs013n_rs013n_onrobot_rg2/.thumbs/rs013n_onrobot_rg2.thumb.usd deleted file mode 100644 index 561062f7ccc254111fda4e636ca39e429bc751ce..0000000000000000000000000000000000000000 Binary files a/kawasaki_rs013n_rs013n_onrobot_rg2/.thumbs/rs013n_onrobot_rg2.thumb.usd and /dev/null differ diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/com.nvidia.simready.packaging.json b/kawasaki_rs013n_rs013n_onrobot_rg2/com.nvidia.simready.packaging.json index 1031798080ad9130f97502d63e62ec3f469d6afd..f541c04267072648d9d05260af63f7bef79b3f1f 100644 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/com.nvidia.simready.packaging.json +++ b/kawasaki_rs013n_rs013n_onrobot_rg2/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.kawasaki_rs013n_rs013n_onrobot_rg2.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.kawasaki_rs013n_rs013n_onrobot_rg2.3.0.0", "license": "unknown", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "8f064ba965ba3364ac7a0ff6e80fe5c739e6c93e221ffa0dee7239fa17bfe7b9" + "sha256": "cf71c5b58496a4bbfe2e08817315a8adc07cdf8b36ae67754c4f7eb0243457e9" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "8a43106932e4adf49e769285e6fbbecc4b20da3d9f621a65d633af3c7d3ad57d" + "sha256": "064b5274181b5a64a6322d72737793d179878677e2c03f4e52591305dd811106" } }, { @@ -23,9 +23,9 @@ } ], "content_hash": { - "sha256": "33e1133fe0cb1b356e6dec6b1f726c87d9ec02484c8f34f264842506d00ea13d" + "sha256": "347742392cb970f9a399ec0218c1bb2d31b7dc884a9b758d85dcce1d77d5e964" }, "package_hash": { - "sha256": "5dde1340f1c2a4ff6293312a0d2ffb62959294eeeed5ed8b66c7dee8d1700fb5" + "sha256": "46cfcedfb69e78e8f661fe2094a5a3ac2348d9fec32421bc1992079019e01420" } -} +} \ No newline at end of file diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/instances.usda b/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/instances.usda index f4314c48e4784e793d5dd08b14d897390df9c596..180b6f4273a8699f8582f1e604565d1ebebca024 100644 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/instances.usda +++ b/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/instances.usda @@ -45,7 +45,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -98,7 +98,7 @@ 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 } } @@ -204,7 +204,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -257,7 +257,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -310,7 +310,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -363,7 +363,7 @@ 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 } } @@ -469,7 +469,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -522,7 +522,7 @@ 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 } } diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/materials.usda b/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/materials.usda index 5c1d845755676e7c0d417bbbb430c11a9165b809..8a78008ea5742087a1234ed8b426780a63360dce 100644 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/materials.usda +++ b/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/materials.usda @@ -22,6 +22,7 @@ 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" ) @@ -54,9 +55,18 @@ 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 "material_Black" @@ -70,6 +80,7 @@ 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" ) @@ -102,9 +113,18 @@ 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 "material_CCCCCC" @@ -118,6 +138,7 @@ 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" ) @@ -150,9 +171,18 @@ 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 "material_191919" @@ -166,6 +196,7 @@ 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" ) @@ -198,9 +229,18 @@ 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/kawasaki_rs013n_rs013n_onrobot_rg2/rs013n_onrobot_rg2.usda b/kawasaki_rs013n_rs013n_onrobot_rg2/rs013n_onrobot_rg2.usda index bb20d1222606312725f0aa67938cbae5da241582..9da7cf818ed1bbdc9a2753add0b70d5c30d36423 100644 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/rs013n_onrobot_rg2.usda +++ b/kawasaki_rs013n_rs013n_onrobot_rg2/rs013n_onrobot_rg2.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 = 1 + string provider = "simready.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/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 = 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/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 = 1 + string provider = "simready.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/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" = { @@ -299,6 +1246,9 @@ def Xform "khi_rs013n" ( , , ] + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) over "base_link" { diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/runnables/physics/physx.usda b/kawasaki_rs013n_rs013n_onrobot_rg2/runnables/physics/physx.usda index 5dfddd660e1dcb5fe952a9ea556fa2805fdc871a..ab49d18f2f236bb259e971bd8f7e9fd64bf22c55 100644 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/runnables/physics/physx.usda +++ b/kawasaki_rs013n_rs013n_onrobot_rg2/runnables/physics/physx.usda @@ -197,30 +197,54 @@ over "khi_rs013n" ( } over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physics:lowerLimit = -44.99999 + float physics:upperLimit = 31.999977 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physics:lowerLimit = -44.99999 + float physics:upperLimit = 31.999977 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physics:lowerLimit = -44.99999 + float physics:upperLimit = 31.999977 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "collisions" @@ -239,12 +263,18 @@ over "khi_rs013n" ( bool physxRigidBody:disableGravity = 1 over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "collisions" @@ -308,12 +338,18 @@ over "khi_rs013n" ( bool physxRigidBody:disableGravity = 1 over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "collisions" @@ -339,5 +375,10 @@ over "khi_rs013n" ( } } } + + over "__fixed_base_joint" + { + bool physics:jointEnabled = 0 + } } diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kawasaki_rs025n_rs025n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index af667f53bacd2cbda7e7b32dfd9a18091e4826c9..bfb7261b39beedbf7a4d324b1ec3908fcbc72e31 100644 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/kawasaki_rs025n_rs025n_onrobot_rg2/.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": "2026-10-26T18:20:10", + "timestamp": "2026-11-02T23:11:47", "assets": [ { "asset": "rs025n_onrobot_rg2.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": "8b745d2e489dade24dbfb1522b8d0baba5732bb0b1c328e73ab04be4c72cee2d" + "sha256": "9f9e671adeb77f44c7f7b046f1086a7d64cf9d3b75246989e784be8667afe2e2" } } diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/kawasaki_rs025n_rs025n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..ec76431977032353c5f991639d6e8f4b50625f1a 100644 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/kawasaki_rs025n_rs025n_onrobot_rg2/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:11:48", "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/kawasaki_rs025n_rs025n_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json b/kawasaki_rs025n_rs025n_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json index cb5718f61e2985823cc8754006051e2bb5051657..b628f7e2059a66378f44ea49083f440f3b9f9705 100644 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json +++ b/kawasaki_rs025n_rs025n_onrobot_rg2/.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/kawasaki_rs025n_rs025n_onrobot_rg2/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/kawasaki_rs025n_rs025n_onrobot_rg2/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7841, + "size": 49425, "hash": { - "sha256-flat-1mb": "b6a99fe0a1258ff8a29f736b6ebeb9fbb7f1684d55ff1d80ff62073c2a8f5fcf", - "sha256": "1222a1f254a904edf396d5ba3cf731c82a5c9511af4fc8af5401bd9e52b02e77" + "sha256-flat-1mb": "0a4f834047dcd7425b62be9a4e812bebe2acec9be4d178ab8a99801d1861305c", + "sha256": "8451dd63bc4ae22a9642193a9aee18c8c9e6e22eb33bb239f9537f7f83d8e8bd" } }, { @@ -18,14 +18,6 @@ "sha256": "0023d6452b5a2e107c2501a06b5238fd02fdc47c41a87eafc4641a491fd432ce" } }, - { - "relative_path": ".thumbs/rs025n_onrobot_rg2.thumb.usd", - "size": 6135, - "hash": { - "sha256-flat-1mb": "701ea30407fe871c6729c3d263c7c553f4132385a9c3a71fa1f2a61f1f05be4b", - "sha256": "574ff0dfef745bcae115d3ece26c460821dc55a25d17cc0842b9ba03683f0fb8" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -125,18 +117,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 18586, + "size": 18597, "hash": { - "sha256-flat-1mb": "b26c4d1942475a3f13312e858125927259b982a18f59505665f25de78ef651c2", - "sha256": "695b88cc86af3274bd823b1c54281503a6357414c13b218fc873c28275b0eca4" + "sha256-flat-1mb": "addeb8ffa8fd7e0da6eab74e4a27c55a4faf1b471916513bb5a4c28b90262018", + "sha256": "072b2de6bf80f91b81b198cc19829f6196bfe86162eaa5a10ed894eb7d70e9cb" } }, { "relative_path": "payloads/materials.usda", - "size": 7322, + "size": 9060, "hash": { - "sha256-flat-1mb": "5056635869214686557f416c6e57e44c9083942f4eccf873b731ef264928f638", - "sha256": "23bcced61709da231df2c71ede121dbfdfb3ad6a5be8a104d77df3cac4719fcc" + "sha256-flat-1mb": "410597a06fa60c2bd53bc51716ebc75d7a0a99a96c7bb8dda74578687d483cad", + "sha256": "04e4006b5024dbf0df9a972a3bda2092e9f29a43c484fc28e50a2eafd39461d8" } }, { @@ -149,10 +141,10 @@ }, { "relative_path": "rs025n_onrobot_rg2.usda", - "size": 18461, + "size": 83735, "hash": { - "sha256-flat-1mb": "8f9d0cd4e504f5845103f14611e8507c1cf1ddddc73a7656790a7453c2329d02", - "sha256": "761bc0032741de4bdcc819fbfe211567aed51f81f07a469003bc1a2069ce5a9f" + "sha256-flat-1mb": "154c3691d62003a2061d2cdf4156e91e99ea54e73b4bfbcf5015e3fb9b3ae677", + "sha256": "c396793552a40e638df2beee9220276b3ef07169831174fe4f3d186988c1b023" } }, { @@ -173,11 +165,11 @@ }, { "relative_path": "runnables/physics/physx.usda", - "size": 8789, + "size": 11136, "hash": { - "sha256-flat-1mb": "ba20b6c49dc40be695f3e191ff8734edc759c5305c9b9e06e9c8db7a7b5151dc", - "sha256": "e09ad47e71d8c598a5af412268a30b4a313b373a274f1991f20264cd79710b46" + "sha256-flat-1mb": "5ecd8ecd38ed928496a3b4d88d1bd6dcd53138b91516786dd01644295ec77dbd", + "sha256": "3161dcc14098ce733ae5128d594b7e44a25b194df0cbb804f48813c53880ec23" } } ] -} +} \ No newline at end of file diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/.simready/validation.json b/kawasaki_rs025n_rs025n_onrobot_rg2/.simready/validation.json index a33c73454356f791f9a1374d0bba5b5f8146d3ac..bc75ce3b43ab70760368c12c56235b79306f3b91 100644 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/.simready/validation.json +++ b/kawasaki_rs025n_rs025n_onrobot_rg2/.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": "/.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": 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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": true, + "status": "pass", + "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/kawasaki_rs025n_rs025n_onrobot_rg2/.thumbs/rs025n_onrobot_rg2.thumb.usd b/kawasaki_rs025n_rs025n_onrobot_rg2/.thumbs/rs025n_onrobot_rg2.thumb.usd deleted file mode 100644 index dca1be3a6193d86725acc403133052793d190b90..0000000000000000000000000000000000000000 Binary files a/kawasaki_rs025n_rs025n_onrobot_rg2/.thumbs/rs025n_onrobot_rg2.thumb.usd and /dev/null differ diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/com.nvidia.simready.packaging.json b/kawasaki_rs025n_rs025n_onrobot_rg2/com.nvidia.simready.packaging.json index e104bbdd01638a6a6e7e987f9e02a327c65cea59..923f565865ad51ec828b6dd7ef10d73287ee7ae4 100644 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/com.nvidia.simready.packaging.json +++ b/kawasaki_rs025n_rs025n_onrobot_rg2/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.kawasaki_rs025n_rs025n_onrobot_rg2.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.kawasaki_rs025n_rs025n_onrobot_rg2.3.0.0", "license": "unknown", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "78517cbf102732bea4a15fda98b670f7a1a52d1bdadd67fcaac0a1e645904a39" + "sha256": "9bf1bd189ef5454722c879f3ba05269d362fcea9dbcd27162a47aff18feccd55" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "391574dff07e7bc3fcbd4a4a115c368063088f7d4eb81045431804b6bb4b3745" + "sha256": "545687e838ab10c09ee6556c1e2823cfcd42078d3a742b9e51b5d46479a40bee" } }, { @@ -23,9 +23,9 @@ } ], "content_hash": { - "sha256": "f91fcc416c11d43cf1e6e3e8ae6df759ffa8bd148cb269b20089836b953522c5" + "sha256": "9f9e671adeb77f44c7f7b046f1086a7d64cf9d3b75246989e784be8667afe2e2" }, "package_hash": { - "sha256": "549a415c7649ddc68f7be5ffbf71045da20ec9183db9870bfbf537abc10e5eeb" + "sha256": "83e17feaebbf1c7b11babc88e42f4de76044b9ee8b34c7924276c48eb82a17cc" } -} +} \ No newline at end of file diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/instances.usda b/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/instances.usda index f4314c48e4784e793d5dd08b14d897390df9c596..180b6f4273a8699f8582f1e604565d1ebebca024 100644 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/instances.usda +++ b/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/instances.usda @@ -45,7 +45,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -98,7 +98,7 @@ 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 } } @@ -204,7 +204,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -257,7 +257,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -310,7 +310,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -363,7 +363,7 @@ 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 } } @@ -469,7 +469,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -522,7 +522,7 @@ 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 } } diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/materials.usda b/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/materials.usda index 5c1d845755676e7c0d417bbbb430c11a9165b809..8a78008ea5742087a1234ed8b426780a63360dce 100644 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/materials.usda +++ b/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/materials.usda @@ -22,6 +22,7 @@ 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" ) @@ -54,9 +55,18 @@ 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 "material_Black" @@ -70,6 +80,7 @@ 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" ) @@ -102,9 +113,18 @@ 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 "material_CCCCCC" @@ -118,6 +138,7 @@ 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" ) @@ -150,9 +171,18 @@ 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 "material_191919" @@ -166,6 +196,7 @@ 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" ) @@ -198,9 +229,18 @@ 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/kawasaki_rs025n_rs025n_onrobot_rg2/rs025n_onrobot_rg2.usda b/kawasaki_rs025n_rs025n_onrobot_rg2/rs025n_onrobot_rg2.usda index e35c0af41c08ea3cd826fdd8775f18bb7d54fa66..7fc21a08687dd6eb98dfd4598b26fb52c550f210 100644 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/rs025n_onrobot_rg2.usda +++ b/kawasaki_rs025n_rs025n_onrobot_rg2/rs025n_onrobot_rg2.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 = 1 + string provider = "simready.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/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 = 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/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 = 1 + string provider = "simready.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/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" = { @@ -299,6 +1246,9 @@ def Xform "khi_rs025n" ( , , ] + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) over "base_link" { diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/runnables/physics/physx.usda b/kawasaki_rs025n_rs025n_onrobot_rg2/runnables/physics/physx.usda index 767bf3e7d54a3852ba75484eb5c0296642c3ee44..c21ff574ad5f34e3260376f5c4f6af923ce9afbd 100644 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/runnables/physics/physx.usda +++ b/kawasaki_rs025n_rs025n_onrobot_rg2/runnables/physics/physx.usda @@ -197,30 +197,54 @@ over "khi_rs025n" ( } over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physics:lowerLimit = -44.99999 + float physics:upperLimit = 31.999977 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physics:lowerLimit = -44.99999 + float physics:upperLimit = 31.999977 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physics:lowerLimit = -44.99999 + float physics:upperLimit = 31.999977 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "collisions" @@ -239,12 +263,18 @@ over "khi_rs025n" ( bool physxRigidBody:disableGravity = 1 over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "collisions" @@ -308,12 +338,18 @@ over "khi_rs025n" ( bool physxRigidBody:disableGravity = 1 over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "collisions" @@ -339,5 +375,10 @@ over "khi_rs025n" ( } } } + + over "__fixed_base_joint" + { + bool physics:jointEnabled = 0 + } } diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kawasaki_rs080n_rs080n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 98d5c16ca2386217405ca4873ce7311c5be77a0a..2967f0bfdeacdaa1589f3307315eaf44b4b564aa 100644 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/kawasaki_rs080n_rs080n_onrobot_rg2/.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": "2026-10-26T18:20:12", + "timestamp": "2026-11-02T23:11:49", "assets": [ { "asset": "rs080n_onrobot_rg2.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": "7c7305e6304178919e93809844c6b511ebcfcc4774cc548a7a9443efcc3bbc26" + "sha256": "8384cad15ebfd1f225029c46bb057052d47a65905915bb2ede3419bae69cf388" } } diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/kawasaki_rs080n_rs080n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..ce96117cd3d9a3bc899f93f8326f28c61946f2d2 100644 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/kawasaki_rs080n_rs080n_onrobot_rg2/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:11:51", "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/kawasaki_rs080n_rs080n_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json b/kawasaki_rs080n_rs080n_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json index c7aac0786d15ddedfd9800fa6b58c397fd300bb8..1953884d4f0c3066c0e754f6127cf1535d9b60a3 100644 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json +++ b/kawasaki_rs080n_rs080n_onrobot_rg2/.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/kawasaki_rs080n_rs080n_onrobot_rg2/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/kawasaki_rs080n_rs080n_onrobot_rg2/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7841, + "size": 49425, "hash": { - "sha256-flat-1mb": "b6a99fe0a1258ff8a29f736b6ebeb9fbb7f1684d55ff1d80ff62073c2a8f5fcf", - "sha256": "1222a1f254a904edf396d5ba3cf731c82a5c9511af4fc8af5401bd9e52b02e77" + "sha256-flat-1mb": "0a4f834047dcd7425b62be9a4e812bebe2acec9be4d178ab8a99801d1861305c", + "sha256": "8451dd63bc4ae22a9642193a9aee18c8c9e6e22eb33bb239f9537f7f83d8e8bd" } }, { @@ -18,14 +18,6 @@ "sha256": "f992077de6c03bd7a04963a9e9fb3bea78215fdd0cbc8c46f04f7f7e49a91ac8" } }, - { - "relative_path": ".thumbs/rs080n_onrobot_rg2.thumb.usd", - "size": 6111, - "hash": { - "sha256-flat-1mb": "16f0fe58fbe5e394d5c1f81b27735ff87cf80a90e17d8118f6e615cf2b53449c", - "sha256": "142eebbee2f179fc2ec3b830843702f8dd1584a6ee4d36e4510a2ea7d73c79a9" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -125,18 +117,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 18586, + "size": 18597, "hash": { - "sha256-flat-1mb": "b26c4d1942475a3f13312e858125927259b982a18f59505665f25de78ef651c2", - "sha256": "695b88cc86af3274bd823b1c54281503a6357414c13b218fc873c28275b0eca4" + "sha256-flat-1mb": "addeb8ffa8fd7e0da6eab74e4a27c55a4faf1b471916513bb5a4c28b90262018", + "sha256": "072b2de6bf80f91b81b198cc19829f6196bfe86162eaa5a10ed894eb7d70e9cb" } }, { "relative_path": "payloads/materials.usda", - "size": 7322, + "size": 9060, "hash": { - "sha256-flat-1mb": "5056635869214686557f416c6e57e44c9083942f4eccf873b731ef264928f638", - "sha256": "23bcced61709da231df2c71ede121dbfdfb3ad6a5be8a104d77df3cac4719fcc" + "sha256-flat-1mb": "410597a06fa60c2bd53bc51716ebc75d7a0a99a96c7bb8dda74578687d483cad", + "sha256": "04e4006b5024dbf0df9a972a3bda2092e9f29a43c484fc28e50a2eafd39461d8" } }, { @@ -149,10 +141,10 @@ }, { "relative_path": "rs080n_onrobot_rg2.usda", - "size": 18433, + "size": 83707, "hash": { - "sha256-flat-1mb": "0b58a316c11ca52552e1588dca2f1b8155e7ff1f396606717d735350cb113e3c", - "sha256": "97876efd6e8f397232612195cdc8b95a1b0b41108e12df234b0e66266f4a454c" + "sha256-flat-1mb": "af32319a3986d5247dc427efb742deb82c39a0ca6458968b76d6daa0cfa23c6a", + "sha256": "cc962a09cbc8138767ab2b3e6ca39d6770d866257cd01c38e4b4ec4bbecd878a" } }, { @@ -173,11 +165,11 @@ }, { "relative_path": "runnables/physics/physx.usda", - "size": 8789, + "size": 11136, "hash": { - "sha256-flat-1mb": "f3220a5905e11ea473329c8f2ab3f35c608076d8f8b10b103340a00da7a2ac8e", - "sha256": "a878e7353074d9198d9ed6febb6305814e51289b7c78a0732ffe5e8cd6a820ab" + "sha256-flat-1mb": "6176ff30dbff46f394899f635c241d29cc815955005b8b5890845a95ccebfd99", + "sha256": "6ac92cb36a18217a1cdd14236892075a83ddd3d69066da0d2e90ec0e35780096" } } ] -} +} \ No newline at end of file diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/.simready/validation.json b/kawasaki_rs080n_rs080n_onrobot_rg2/.simready/validation.json index a33c73454356f791f9a1374d0bba5b5f8146d3ac..bc75ce3b43ab70760368c12c56235b79306f3b91 100644 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/.simready/validation.json +++ b/kawasaki_rs080n_rs080n_onrobot_rg2/.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": "/.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", 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"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": true, + "status": "pass", + "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/kawasaki_rs080n_rs080n_onrobot_rg2/.thumbs/rs080n_onrobot_rg2.thumb.usd b/kawasaki_rs080n_rs080n_onrobot_rg2/.thumbs/rs080n_onrobot_rg2.thumb.usd deleted file mode 100644 index eb3c8203812746cc32ce17230f01224bffba8cbf..0000000000000000000000000000000000000000 Binary files a/kawasaki_rs080n_rs080n_onrobot_rg2/.thumbs/rs080n_onrobot_rg2.thumb.usd and /dev/null differ diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/com.nvidia.simready.packaging.json b/kawasaki_rs080n_rs080n_onrobot_rg2/com.nvidia.simready.packaging.json index 7df71d643caa7e17a68529c0c5b773a652af2ede..1fc14a11d878bcf99a879b946c08ed7d84333a54 100644 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/com.nvidia.simready.packaging.json +++ b/kawasaki_rs080n_rs080n_onrobot_rg2/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.kawasaki_rs080n_rs080n_onrobot_rg2.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.kawasaki_rs080n_rs080n_onrobot_rg2.3.0.0", "license": "unknown", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "1b3eab2eceeddafe82f346e357874b690e16265fda3791243b1cc4cdfd3eafa0" + "sha256": "df827148ddba42f8fd06623b083f6087ca6f58b044a9fdaa1a3e563bb7c1b3bc" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "7ed7ecd73b7e936c02a9a33d496105506218645d15c674b99245f6f07f57a95b" + "sha256": "32b626334e22cb5f3c76d7ca0883be03812c9434e5c01e5603df744eaab8ea3e" } }, { @@ -23,9 +23,9 @@ } ], "content_hash": { - "sha256": "244b0295114eb402ec48d02527dc232aacdab0529614b084aac4d90cca01fc3e" + "sha256": "8384cad15ebfd1f225029c46bb057052d47a65905915bb2ede3419bae69cf388" }, "package_hash": { - "sha256": "61c7ee08d7d02c1bddec721e57529b33fdf6071c717c04fa7deff39ab4e8e0a5" + "sha256": "d3176c64f5880a3b75f6a1e941a5f2e336ef9109f48d788774d7f699f50d4ae4" } -} +} \ No newline at end of file diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/instances.usda b/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/instances.usda index f4314c48e4784e793d5dd08b14d897390df9c596..180b6f4273a8699f8582f1e604565d1ebebca024 100644 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/instances.usda +++ b/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/instances.usda @@ -45,7 +45,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -98,7 +98,7 @@ 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 } } @@ -204,7 +204,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -257,7 +257,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -310,7 +310,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -363,7 +363,7 @@ 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 } } @@ -469,7 +469,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -522,7 +522,7 @@ 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 } } diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/materials.usda b/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/materials.usda index 5c1d845755676e7c0d417bbbb430c11a9165b809..8a78008ea5742087a1234ed8b426780a63360dce 100644 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/materials.usda +++ b/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/materials.usda @@ -22,6 +22,7 @@ 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" ) @@ -54,9 +55,18 @@ 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 "material_Black" @@ -70,6 +80,7 @@ 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" ) @@ -102,9 +113,18 @@ 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 "material_CCCCCC" @@ -118,6 +138,7 @@ 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" ) @@ -150,9 +171,18 @@ 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 "material_191919" @@ -166,6 +196,7 @@ 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" ) @@ -198,9 +229,18 @@ 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/kawasaki_rs080n_rs080n_onrobot_rg2/rs080n_onrobot_rg2.usda b/kawasaki_rs080n_rs080n_onrobot_rg2/rs080n_onrobot_rg2.usda index 73f04ba93601d2c80b6932d5606e59552f717d94..b44ff137d2753a0b50700399df088c5b8ab718a8 100644 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/rs080n_onrobot_rg2.usda +++ b/kawasaki_rs080n_rs080n_onrobot_rg2/rs080n_onrobot_rg2.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 = 1 + string provider = "simready.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/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 = 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/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 = 1 + string provider = "simready.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/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" = { @@ -299,6 +1246,9 @@ def Xform "khi_rs080n" ( , , ] + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) over "base_link" { diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/runnables/physics/physx.usda b/kawasaki_rs080n_rs080n_onrobot_rg2/runnables/physics/physx.usda index aa366d282f356dccc7c46195cdbda07abda4dae7..16ef929bfe93a566abdf1ad9a2c7412db153fe18 100644 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/runnables/physics/physx.usda +++ b/kawasaki_rs080n_rs080n_onrobot_rg2/runnables/physics/physx.usda @@ -197,30 +197,54 @@ over "khi_rs080n" ( } over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physics:lowerLimit = -44.99999 + float physics:upperLimit = 31.999977 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physics:lowerLimit = -44.99999 + float physics:upperLimit = 31.999977 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physics:lowerLimit = -44.99999 + float physics:upperLimit = 31.999977 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "collisions" @@ -239,12 +263,18 @@ over "khi_rs080n" ( bool physxRigidBody:disableGravity = 1 over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "collisions" @@ -308,12 +338,18 @@ over "khi_rs080n" ( bool physxRigidBody:disableGravity = 1 over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:stiffness = 1000000 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 114.59156 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 20 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = } over "collisions" @@ -339,5 +375,10 @@ over "khi_rs080n" ( } } } + + over "__fixed_base_joint" + { + bool physics:jointEnabled = 0 + } } diff --git a/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 44d81b0af000120effcc77a5d7191af6c083e53d..4bdd09c71381ea8ce4bf87f5eb8f409c7613d824 100644 --- a/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/kinova_gen3_gen3n7_instanceable/.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": "2026-10-26T18:20:14", + "timestamp": "2026-11-02T23:11:52", "assets": [ { "asset": "gen3n7_instanceable.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": "65b261d049544a707dd899fb7940bedfd8be12711e55d29c2b37e78db14dc9cc" + "sha256": "8929a7627fcfdee0d414f01398a2d8a930567239c24898dad026157ecaf2fc48" } } diff --git a/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..1436205a738e4ef21d8f44730d3a0a54ff9bc4a5 100644 --- a/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/kinova_gen3_gen3n7_instanceable/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:11:54", "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/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.packaging.bom.json b/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.packaging.bom.json index df5c58cab11f0ad44446f2fe09ef35070559f9cb..a1ddd61875d60d08dceb5871891d0792193c32a8 100644 --- a/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.packaging.bom.json +++ b/kinova_gen3_gen3n7_instanceable/.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/kinova_gen3_gen3n7_instanceable/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/kinova_gen3_gen3n7_instanceable/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" } }, { @@ -18,20 +18,12 @@ "sha256": "8fd26d9d7720bd2871c4b11209b35b7451f6b82f69c8c2e1ab5e393fb8dd9b92" } }, - { - "relative_path": ".thumbs/gen3n7_instanceable.thumb.usd", - "size": 6131, - "hash": { - "sha256-flat-1mb": "dc8733dd7b810217f10bf40b03c390be61dccd81a7bcb4ff08a2aab5b8356dc2", - "sha256": "f278197bb6027c0a72a7c70744d6971c72884c3b115e7fdb22a34f2eb1995be9" - } - }, { "relative_path": "gen3n7_instanceable.usda", - "size": 15742, + "size": 81121, "hash": { - "sha256-flat-1mb": "b7440e070781c3b0e3f666a23833f7cc2b406ee2f767bdc1f684c58625136fb2", - "sha256": "a400ce8c09f864aa093b6ad5782e3f18640bda50e23c3984f205a477b7ef9396" + "sha256-flat-1mb": "3d08b29108474f42700389355cabd8af26f4f2ea983d9ef8037a9d0ff9c2621c", + "sha256": "da71a59d12fe8a16ad42db6c55ff22743da0ca6d2d9a79ceaee5e2a70a3d0192" } }, { @@ -133,18 +125,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 13699, + "size": 13707, "hash": { - "sha256-flat-1mb": "7137dc5b815b4a09bc59c588bc46ce5ab55d1aab8f7155d6eaafcf4dc8c2ad01", - "sha256": "fa080bfefb6635aa75b828d139319785af33e82502ad2ca48b605f2c9cbacb74" + "sha256-flat-1mb": "e726945c9deaab3c334cb3d25da1801c591f9731dc50667475f6504be55305a3", + "sha256": "1a1cfefbf2187c4bd6c8934d35df2de51ae2ee23d836ee6008c4a1021485c579" } }, { "relative_path": "payloads/materials.usda", - "size": 3019, + "size": 3454, "hash": { - "sha256-flat-1mb": "4003ac4bdf06dde648ed47c20c8a5424e2ffd461b56e9c6603b4528f9313b4db", - "sha256": "b12dee7b1a817d96977a10cf4e62f279da5ec3245b634b9ba910aee502e1b803" + "sha256-flat-1mb": "91c0b2d051be38839b55c62eca46a47173cc23019a9e1bbd73ab08b133c41009", + "sha256": "dfff51c830c170bdc2f99cab7091d44f7b8c441db6331d112ccb5a1916cef41d" } }, { @@ -173,11 +165,11 @@ }, { "relative_path": "runnables/physics/physx.usda", - "size": 5320, + "size": 5401, "hash": { - "sha256-flat-1mb": "e0914eb3e5f6ef3073265fcf91f68dc28ac25b439580828dd69cf7153533b6c1", - "sha256": "d40021fad3bc209fed3872f13ae3e9a1ae98071c30eb290cf8088174c24f3138" + "sha256-flat-1mb": "ee9b052d047dc590eb392c7c882bb675d0754b4b4a930067c31ae63cce29f223", + "sha256": "366866c495dfd9a4e94a6b49af2b3d73bd746732810e9193b122db8f806a42cb" } } ] -} +} \ No newline at end of file diff --git a/kinova_gen3_gen3n7_instanceable/.simready/validation.json b/kinova_gen3_gen3n7_instanceable/.simready/validation.json index 22ddc766c14fb050a865eeb7ee2c5b8afc840419..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/kinova_gen3_gen3n7_instanceable/.simready/validation.json +++ b/kinova_gen3_gen3n7_instanceable/.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": "/.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": 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"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/kinova_gen3_gen3n7_instanceable/.thumbs/gen3n7_instanceable.thumb.usd b/kinova_gen3_gen3n7_instanceable/.thumbs/gen3n7_instanceable.thumb.usd deleted file mode 100644 index db913c7c33fe16431301ed177ea32777510da585..0000000000000000000000000000000000000000 Binary files a/kinova_gen3_gen3n7_instanceable/.thumbs/gen3n7_instanceable.thumb.usd and /dev/null differ diff --git a/kinova_gen3_gen3n7_instanceable/com.nvidia.simready.packaging.json b/kinova_gen3_gen3n7_instanceable/com.nvidia.simready.packaging.json index 09d491174f209aff849bf1fc4b86549010f34119..7a75fb8a64e44e5a5639665693c9ae0c21d0d974 100644 --- a/kinova_gen3_gen3n7_instanceable/com.nvidia.simready.packaging.json +++ b/kinova_gen3_gen3n7_instanceable/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.kinova_gen3_gen3n7_instanceable.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.kinova_gen3_gen3n7_instanceable.3.0.0", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "fb3a6d0b7d18c62f54bf62fe0d6dcdd4ebb8a777e87dc7445e83db306569ffb7" + "sha256": "16830139d297de82ab7741ba63feeafffb10e923fb7bc8e2ac4a65f80654e91b" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "7639bdaaced3c9f274096c20bcfb62862c27a61e586034df4daed5cad226066b" + "sha256": "740d9719acfef6424079f4ef7d8dbb3bf27c6e217694c55b5007dacef820cfca" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "d1117c3f25918784275776e23c4d9c230b315c68b33ba3c27879ef58dffe0c05" + "sha256": "8929a7627fcfdee0d414f01398a2d8a930567239c24898dad026157ecaf2fc48" }, "package_hash": { - "sha256": "5255cad47dff43aed9f3a085f38a8c67142beb4a4caac5fe2168fdb8665f4020" + "sha256": "37daa73a06fbf7a32767083c257c05c628fc69f1bdbc52c066b26ec7634da44f" } } diff --git a/kinova_gen3_gen3n7_instanceable/gen3n7_instanceable.usda b/kinova_gen3_gen3n7_instanceable/gen3n7_instanceable.usda index 9be197dab007d7c22a3f52c126a11b179919a1c6..903d747ae29004edec3dd84baa1dfd5c30650bba 100644 --- a/kinova_gen3_gen3n7_instanceable/gen3n7_instanceable.usda +++ b/kinova_gen3_gen3n7_instanceable/gen3n7_instanceable.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" = { @@ -289,6 +1237,9 @@ def Xform "gen3" ( , , ] + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) over "base_link" { diff --git a/kinova_gen3_gen3n7_instanceable/payloads/instances.usda b/kinova_gen3_gen3n7_instanceable/payloads/instances.usda index 4e1ab5b4d273389a641e3989401c99819e409bfe..20512de96db2d8451186ef9729da87292bc9d468 100644 --- a/kinova_gen3_gen3n7_instanceable/payloads/instances.usda +++ b/kinova_gen3_gen3n7_instanceable/payloads/instances.usda @@ -45,7 +45,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -98,7 +98,7 @@ 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 } } @@ -204,7 +204,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -257,7 +257,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -310,7 +310,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -363,7 +363,7 @@ 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 } } diff --git a/kinova_gen3_gen3n7_instanceable/payloads/materials.usda b/kinova_gen3_gen3n7_instanceable/payloads/materials.usda index d0375dc78fce507e805d6890bdd1ea2e64c0ee2d..307827fcd345ed8a6c58989e06d3acf64d246d0d 100644 --- a/kinova_gen3_gen3n7_instanceable/payloads/materials.usda +++ b/kinova_gen3_gen3n7_instanceable/payloads/materials.usda @@ -22,6 +22,7 @@ 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" ) @@ -81,9 +82,18 @@ 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/kinova_gen3_gen3n7_instanceable/runnables/physics/physx.usda b/kinova_gen3_gen3n7_instanceable/runnables/physics/physx.usda index e8beba1fa09b2e318a265f9aecba3a5aed7e9f43..bd2c0c4ef4342978d7739bfb7e688f09c347a55a 100644 --- a/kinova_gen3_gen3n7_instanceable/runnables/physics/physx.usda +++ b/kinova_gen3_gen3n7_instanceable/runnables/physics/physx.usda @@ -189,5 +189,10 @@ over "gen3" ( } } } + + over "__fixed_base_joint" + { + bool physics:jointEnabled = 0 + } } diff --git a/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index f91b5b5f6714ee9db461acc8e40facd8544237f6..77bbbaaf75dea20dee8f5d1462024b4529976e95 100644 --- a/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/kinova_jaco2_j2n6s300_instanceable/.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": "2026-10-26T18:20:16", + "timestamp": "2026-11-02T22:55:08", "assets": [ { "asset": "j2n6s300_instanceable.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": "f177db5471141bc6e2b1096a092e71dec9e461e169fcf8a10adb3e5d1072c7a8" + "sha256": "7b2d889ce97f37acd4b50f4eeff6087f94aafff094c5a58ab75496223f9eef1f" } } diff --git a/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..e4b7f3247c7f2546c83e1383c72a4be8e88bf5b9 100644 --- a/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/kinova_jaco2_j2n6s300_instanceable/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T22:55:10", "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/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.packaging.bom.json b/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.packaging.bom.json index f7afc29bb647873708243bcb63d211bac71937ea..38b837e0d0698eb7680af1244962f9b6f7afb6ab 100644 --- a/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.packaging.bom.json +++ b/kinova_jaco2_j2n6s300_instanceable/.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/kinova_jaco2_j2n6s300_instanceable/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/kinova_jaco2_j2n6s300_instanceable/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" } }, { @@ -20,10 +20,10 @@ }, { "relative_path": "j2n6s300_instanceable.usda", - "size": 16939, + "size": 82318, "hash": { - "sha256-flat-1mb": "ba49bc9a8621125374c56396e0796a1b34587fab89993c8be8d8e5fb71cae4bd", - "sha256": "200af0627f007eece3fbe40de957acf4b21c8c927277a922078c7302a66c3838" + "sha256-flat-1mb": "646b7bcfcfc55f99ca11e3f01a84282ee43a338692566da3bc1a037fd54894b2", + "sha256": "02091c70a02d39ea50a8b9bcdd4597686d039b9e3a53acf22ab8769c962dfd57" } }, { @@ -92,10 +92,10 @@ }, { "relative_path": "payloads/Physics/physics.usda", - "size": 30092, + "size": 30063, "hash": { - "sha256-flat-1mb": "4d004a577880c3f99b5558de74cce60b0f47f8fa975ce5f5b1a5fc0181bfcaaa", - "sha256": "fe374f4b0cc3f909edf86481875d3802e529b530bffc193c2943d61f33a309e3" + "sha256-flat-1mb": "01ee5fdd85d6aa3fd40ef4dcfc3e2ec00868ec56782ad8e7147d50287641550b", + "sha256": "c7dc4266273a590df34826724b34ef7264e1adadafb47e527e9bfb7cc6accfea" } }, { @@ -125,18 +125,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 16771, + "size": 16781, "hash": { - "sha256-flat-1mb": "5b6e4fb1499e01af7ead2ff6f4e4879c4406fdaeb2d24c6c6b01066ebbf87e36", - "sha256": "c87d242e75ba456989c8dc33a8c9f381cd66a028d2af1a21ef83e73d03a54bf4" + "sha256-flat-1mb": "87412fac5b940821a9fea761096a20134deea4acb32d73b1ee335dc53ad1559a", + "sha256": "d6edfaa5ebdfe4236f13ff2f2d800a3e6ef8fd9637d366caa43685a028bdf1c9" } }, { "relative_path": "payloads/materials.usda", - "size": 14173, + "size": 16388, "hash": { - "sha256-flat-1mb": "dd463ef32d50293386589f61167177e94b805579bad9784e649360fa3a2346dd", - "sha256": "e8df1997597206879279c9a11d4f3b4f4a45d75705c78bc16313ffda60ac37e8" + "sha256-flat-1mb": "013a27fd73505f51e00fc5d26b8a443bbbd0ae9022b970e079b83a9064118dc3", + "sha256": "44167ae51e1f266965ab2bc0fc5842aba2cad5c745404d73cc01e14994ef515d" } }, { @@ -157,19 +157,19 @@ }, { "relative_path": "runnables/physics/newton.usda", - "size": 8560, + "size": 9157, "hash": { - "sha256-flat-1mb": "6214dfc813b210e0912d07c5b6e7a51fc54da2290985c53b4d2738a4a9445391", - "sha256": "dc6550b01ea252b770cca09d08e77edf512581a83588cc96c49001c54c68de8e" + "sha256-flat-1mb": "8016777f8f3184ba4979dc2f932b9037243963cc004b935fb69b1654acecc30b", + "sha256": "3a72b9afc748c172fd1a00fe7787932c806bef1c665884a85cbc3c667d4bdfb5" } }, { "relative_path": "runnables/physics/physx.usda", - "size": 8812, + "size": 8887, "hash": { - "sha256-flat-1mb": "dae3b40b8e2dc05230a4c65df0885417c3313824a9c6731ceb922746fc86636e", - "sha256": "28e65bd6d1ffd430f8698ab859237a2900aa07392eee612380bd723a4772486d" + "sha256-flat-1mb": "d0f21e90778a919b7d3f92c390423a6867395caac74c623302648eb9bcc1eede", + "sha256": "f3a475c8aa7fe40dda14e69371e49f6d84bd1f81904a31e6cda9e1e7f26f4a5e" } } ] -} +} \ No newline at end of file diff --git a/kinova_jaco2_j2n6s300_instanceable/.simready/validation.json b/kinova_jaco2_j2n6s300_instanceable/.simready/validation.json index 22ddc766c14fb050a865eeb7ee2c5b8afc840419..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/kinova_jaco2_j2n6s300_instanceable/.simready/validation.json +++ b/kinova_jaco2_j2n6s300_instanceable/.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": "/.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", + 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"display_name": "Simulate Multi-Body Physics (Robot Newton)", + "family": "FET004", + "runtime": "RobotNewton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + } + } + } } } } diff --git a/kinova_jaco2_j2n6s300_instanceable/com.nvidia.simready.packaging.json b/kinova_jaco2_j2n6s300_instanceable/com.nvidia.simready.packaging.json index 58aeb2719c4d9dd91993fd92fe6cb27e6e304264..a7d99d81740ee04bcbbed17fe1ad1b1ba5a77dca 100644 --- a/kinova_jaco2_j2n6s300_instanceable/com.nvidia.simready.packaging.json +++ b/kinova_jaco2_j2n6s300_instanceable/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.kinova_jaco2_j2n6s300_instanceable.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.kinova_jaco2_j2n6s300_instanceable.3.0.0", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "27677048179d5566331a65db11f5acbd40cd15e15b01f5d31a3e8738f0fc7103" + "sha256": "293f09554b372b40cf3f4a1e7dd9dd410f8680950793f0a49208bdc92925bcf1" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "6b14dae63d98b7750007a4eea25cbadecbc0274aa2154ea5bd6cc965f21afde4" + "sha256": "0f94cdbdf80fb84b884eb2fa84bc20cfb7f025858c8dc92e292900a743a90c5a" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "bce7853742b6b839639e1d111d50c2d9a50b998ad2c2130ac090bb795ee390fb" + "sha256": "7b2d889ce97f37acd4b50f4eeff6087f94aafff094c5a58ab75496223f9eef1f" }, "package_hash": { - "sha256": "066d823b74bce022f0711b8fe07dc06bbece38dac4a285392197c99dcfedf548" + "sha256": "de7036a80df068c830be4daefffe88cdae181d2b8c3538dacfaec2b15a0aa625" } } diff --git a/kinova_jaco2_j2n6s300_instanceable/j2n6s300_instanceable.usda b/kinova_jaco2_j2n6s300_instanceable/j2n6s300_instanceable.usda index 408c6d2d61b621d98710d1b0763a0935fac73fd4..270e1a6fa37865b745a105fc73a260b8beda16be 100644 --- a/kinova_jaco2_j2n6s300_instanceable/j2n6s300_instanceable.usda +++ b/kinova_jaco2_j2n6s300_instanceable/j2n6s300_instanceable.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" = { @@ -294,6 +1242,9 @@ def Xform "j2n6s300" ( , , ] + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) over "j2n6s300_link_6" { diff --git a/kinova_jaco2_j2n6s300_instanceable/payloads/Physics/physics.usda b/kinova_jaco2_j2n6s300_instanceable/payloads/Physics/physics.usda index 6b55ffde995b68e33f1f6b2d3de4ff9310c4363f..c04014ce0c45568c7f3723b857f3e92357ebcb63 100644 --- a/kinova_jaco2_j2n6s300_instanceable/payloads/Physics/physics.usda +++ b/kinova_jaco2_j2n6s300_instanceable/payloads/Physics/physics.usda @@ -81,7 +81,7 @@ def "j2n6s300" ( float drive:angular:physics:damping = 100 float drive:angular:physics:maxForce = 4800 float drive:angular:physics:stiffness = 1000 - float drive:angular:physics:targetPosition = 120 + float drive:angular:physics:targetPosition = 0 float drive:angular:physics:targetVelocity = 0 uniform token drive:angular:physics:type = "force" custom string isaac:nameOverride @@ -100,11 +100,11 @@ def "j2n6s300" ( float physics:breakTorque = 3.4028235e38 point3f physics:localPos0 = (4.1771986e-16, 0.0016, -0.118750006) point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-0.5, 0.50000006, -0.49999997, 0.49999997) + quatf physics:localRot0 = (0.6830128, 0.1830127, -0.18301271, -0.68301266) quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = 46.999996 - float physics:upperLimit = 313 - float state:angular:physics:position = 120 + float physics:lowerLimit = -73 + float physics:upperLimit = 193 + float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 } @@ -135,7 +135,7 @@ def "j2n6s300" ( float drive:angular:physics:damping = 100 float drive:angular:physics:maxForce = 2400 float drive:angular:physics:stiffness = 1000 - float drive:angular:physics:targetPosition = 90 + float drive:angular:physics:targetPosition = 0 float drive:angular:physics:targetVelocity = 0 uniform token drive:angular:physics:type = "force" custom string isaac:nameOverride @@ -154,11 +154,11 @@ def "j2n6s300" ( float physics:breakTorque = 3.4028235e38 point3f physics:localPos0 = (3.9559305e-16, -0.41, -1.0413515e-8) point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, -1.2101618e-8, 0.7071068, -1.2101616e-8) + quatf physics:localRot0 = (-0.5, -0.49999997, -0.5, 0.50000006) quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = 18.999998 - float physics:upperLimit = 341 - float state:angular:physics:position = 90 + float physics:lowerLimit = -71 + float physics:upperLimit = 251 + float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 } diff --git a/kinova_jaco2_j2n6s300_instanceable/payloads/instances.usda b/kinova_jaco2_j2n6s300_instanceable/payloads/instances.usda index b0386f26cc6994e50c386ae508c9c9aaece11967..cb670a0b3e6bd64f01a357b800ea243b6f33e3ce 100644 --- a/kinova_jaco2_j2n6s300_instanceable/payloads/instances.usda +++ b/kinova_jaco2_j2n6s300_instanceable/payloads/instances.usda @@ -45,7 +45,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -98,7 +98,7 @@ 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 } } @@ -192,7 +192,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -245,7 +245,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -298,7 +298,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -351,7 +351,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -392,7 +392,7 @@ 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 } } @@ -498,7 +498,7 @@ 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/kinova_jaco2_j2n6s300_instanceable/payloads/materials.usda b/kinova_jaco2_j2n6s300_instanceable/payloads/materials.usda index a20e5587af7086855eb50f1cc4e6fbcdf54b5063..5f92e621c225503ce77fba82839022622edee3b0 100644 --- a/kinova_jaco2_j2n6s300_instanceable/payloads/materials.usda +++ b/kinova_jaco2_j2n6s300_instanceable/payloads/materials.usda @@ -22,6 +22,7 @@ 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" ) @@ -78,9 +79,18 @@ 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 "material_Material_001_1" @@ -94,6 +104,7 @@ 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" ) @@ -158,9 +169,18 @@ 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 "material_Material_001_1_1" @@ -174,6 +194,7 @@ 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" ) @@ -222,9 +243,18 @@ 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 "material_Material_001_2" @@ -238,6 +268,7 @@ 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" ) @@ -294,9 +325,18 @@ 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 "material_Material_001_3" @@ -310,6 +350,7 @@ 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" ) @@ -366,9 +407,18 @@ 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/kinova_jaco2_j2n6s300_instanceable/runnables/physics/newton.usda b/kinova_jaco2_j2n6s300_instanceable/runnables/physics/newton.usda index 058b326b08c1327388a2675ccfe252fa68bc2ab8..2d7b635366fad92454c1fcd572bd3571171ab50a 100644 --- a/kinova_jaco2_j2n6s300_instanceable/runnables/physics/newton.usda +++ b/kinova_jaco2_j2n6s300_instanceable/runnables/physics/newton.usda @@ -70,8 +70,12 @@ over "j2n6s300" ( { float drive:angular:physics:damping = 0 float drive:angular:physics:stiffness = 937.5 + float drive:angular:physics:targetPosition = 0 float newton:damping = 31.25 float newton:velocityLimit = 48 + float physics:lowerLimit = -360 + float physics:upperLimit = 360 + float state:angular:physics:position = 0 } } @@ -116,8 +120,12 @@ over "j2n6s300" ( { float drive:angular:physics:damping = 0 float drive:angular:physics:stiffness = 937.5 + float drive:angular:physics:targetPosition = 0 float newton:damping = 31.25 float newton:velocityLimit = 48 + float physics:lowerLimit = -360 + float physics:upperLimit = 360 + float state:angular:physics:position = 0 } } @@ -185,8 +193,12 @@ over "j2n6s300" ( { float drive:angular:physics:damping = 0 float drive:angular:physics:stiffness = 2240 + float drive:angular:physics:targetPosition = 0 float newton:damping = 74.666664 float newton:velocityLimit = 36 + float physics:lowerLimit = -360 + float physics:upperLimit = 360 + float state:angular:physics:position = 0 } } diff --git a/kinova_jaco2_j2n6s300_instanceable/runnables/physics/physx.usda b/kinova_jaco2_j2n6s300_instanceable/runnables/physics/physx.usda index 3cb7d9bdb001a118074b975bec82f4bbc29c6f5b..990e5ac0268c566d84651ab72c1d728af1c2f2a1 100644 --- a/kinova_jaco2_j2n6s300_instanceable/runnables/physics/physx.usda +++ b/kinova_jaco2_j2n6s300_instanceable/runnables/physics/physx.usda @@ -46,10 +46,10 @@ over "j2n6s300" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:targetPosition = 120 + float drive:angular:physics:targetPosition = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 36 - float state:angular:physics:position = 120 + float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 } @@ -68,10 +68,10 @@ over "j2n6s300" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:targetPosition = 90 + float drive:angular:physics:targetPosition = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 36 - float state:angular:physics:position = 90 + float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 } @@ -299,5 +299,10 @@ over "j2n6s300" ( } } } + + over "__fixed_base_joint" + { + bool physics:jointEnabled = 0 + } } diff --git a/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 29b2953d2a7f43f25b3d84acd803394b780ca96b..b29a85c059aa90b7bdd5576f152b50cd712f8527 100644 --- a/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/kinova_jaco2_j2n7s300_instanceable/.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": "2026-10-26T18:20:19", + "timestamp": "2026-11-02T22:55:11", "assets": [ { "asset": "j2n7s300_instanceable.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": "cbc7e2542faa580a33e9c22a71f6fc4c29d99d6507e70338d4f7425b0c40fa7a" + "sha256": "4b544bf0a27246e880992c1b50d6247f69eda1521a9bd725b48306dce7c9b728" } } diff --git a/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..af1f22a91338c6d9701158edd471bbd2dde9a27e 100644 --- a/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/kinova_jaco2_j2n7s300_instanceable/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T22:55:13", "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/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.packaging.bom.json b/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.packaging.bom.json index 31f0db0e8195f20d13ae32867d982de5f139e015..d4cd858dac68db84f51310073aea092293817b4c 100644 --- a/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.packaging.bom.json +++ b/kinova_jaco2_j2n7s300_instanceable/.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/kinova_jaco2_j2n7s300_instanceable/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/kinova_jaco2_j2n7s300_instanceable/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" } }, { @@ -20,10 +20,10 @@ }, { "relative_path": "j2n7s300_instanceable.usda", - "size": 17119, + "size": 82498, "hash": { - "sha256-flat-1mb": "ce62b02ab772ac61b0b8e3d37a4fa2a3748f715a39ff196c3daf5ea050710ddf", - "sha256": "abe21d3830e9c3010c6360cdee48c8c8611fae875bd22dae49ff954b7018ccc2" + "sha256-flat-1mb": "9be2eb78ed25fa032d8c6b03d56685b5eed00f0d4f8f77b2fe5781cab5581f7f", + "sha256": "3e3bc8421eaa4e89416bed1dd667f93c711644c268619bd3759c5d2015bab217" } }, { @@ -92,10 +92,10 @@ }, { "relative_path": "payloads/Physics/physics.usda", - "size": 32214, + "size": 32218, "hash": { - "sha256-flat-1mb": "2bdc82817f8d15edc1db8a91f138f04efa35692a1fd1b0f9b71ba92497e4035f", - "sha256": "a0446237570632ee31b36595853320519f10100d296730efd575e5e390479f0f" + "sha256-flat-1mb": "cca639c400cd86fa1282b62012bc4c26c0e836940014ff796089d6679c439d36", + "sha256": "4a24ae004d4ca36e708bee91324cf86eedd91a8991db0b02b84caa9e542dccb3" } }, { @@ -125,18 +125,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 19949, + "size": 19961, "hash": { - "sha256-flat-1mb": "b0be8baffbb7d585b8309886970b7483d3fbc70c351ca20069c34a9df295fec6", - "sha256": "0f49b0f676e4e06ad3dec8cd6422297698689652fa9e0f9fac202ed02d85ac86" + "sha256-flat-1mb": "0aa80df8f14fdc5d0c3c795e19312fabfa616c193c0698125f4463768b620e2a", + "sha256": "7eb0e782f82a4372286e616b591216ce9cd0d634b48af40ef0cfbd360b614df8" } }, { "relative_path": "payloads/materials.usda", - "size": 16751, + "size": 19408, "hash": { - "sha256-flat-1mb": "a46d0371ad74e2dd42690e7ddb5d7ac65c9f6a8b15d5a8e038cfbc7b7338687c", - "sha256": "b9d83252e0e768161e7c34f66e12b77f34ece309bb60c657f6e708c567ef958b" + "sha256-flat-1mb": "3caa7b97b4682f7c5a19ae6e93b8f5244a1de202a5ea8f28fdccf46cd8eaac34", + "sha256": "5f31840dd230f60b831da99accaedcc0b50f02917a4080adf72ead41f9caa0b2" } }, { @@ -157,19 +157,19 @@ }, { "relative_path": "runnables/physics/newton.usda", - "size": 12788, + "size": 9648, "hash": { - "sha256-flat-1mb": "52813d4ff15f4e311237497b968ddcd0525dd0e5327f0e23dabd894ee22a9c35", - "sha256": "fdc54eb06af104e1a242c01b60630405f2857eb2355f0a5abad8839bb9d550e7" + "sha256-flat-1mb": "bba0869e847adebf7675b6975b3110b237b450cf14b0ead86bd6ec711299972f", + "sha256": "594b81a6450ef2c5b89360eb23dba121a6b8c79562eb9460d114ba5ead1b0450" } }, { "relative_path": "runnables/physics/physx.usda", - "size": 9405, + "size": 9480, "hash": { - "sha256-flat-1mb": "fb0891f16fe4313a2c31e772da583281cedc6a48bdae8f9bd6207ccb1c1340ce", - "sha256": "a465fe98a3b7671e38d25572a5da0791e994a9a0e704c2c374944871d643e5d5" + "sha256-flat-1mb": "a5f05e2b14661120e9070941fd8fd208f7863ef4996c920f48fd87c887f2496c", + "sha256": "2e8e7a3a5a2aaffbadb5d1ff2de5ee43f69b4d7ba85a29ac30d12e6079c81017" } } ] -} +} \ No newline at end of file diff --git a/kinova_jaco2_j2n7s300_instanceable/.simready/validation.json b/kinova_jaco2_j2n7s300_instanceable/.simready/validation.json index 22ddc766c14fb050a865eeb7ee2c5b8afc840419..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/kinova_jaco2_j2n7s300_instanceable/.simready/validation.json +++ b/kinova_jaco2_j2n7s300_instanceable/.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": "/.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": { + 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"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/kinova_jaco2_j2n7s300_instanceable/com.nvidia.simready.packaging.json b/kinova_jaco2_j2n7s300_instanceable/com.nvidia.simready.packaging.json index eab5f92b7749406524823769f327853815f0e9d2..6265432825d583c1bf47d2abab7937371798948a 100644 --- a/kinova_jaco2_j2n7s300_instanceable/com.nvidia.simready.packaging.json +++ b/kinova_jaco2_j2n7s300_instanceable/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.kinova_jaco2_j2n7s300_instanceable.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.kinova_jaco2_j2n7s300_instanceable.3.0.0", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "88b524ace6dc0ba9b91f7115aa6e3608454356787b25a347196f1c7a5a0fc1d2" + "sha256": "5549de2f44df568d6db027b4fb5cdec409e50b72003360f61946d64131e1d3e2" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "8561144dcb98b6fa5c4606693719d7796c95a402e407e61acfbcaad967cc3c5e" + "sha256": "86e155bdb6ee2b6397290b404bd3aa637fd5da468b89dbbf81cfcf051f0ee894" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "ee80d722322c8fe37b545df7537df41c939757bdf33bcd9ccebe55c1ae947f22" + "sha256": "4b544bf0a27246e880992c1b50d6247f69eda1521a9bd725b48306dce7c9b728" }, "package_hash": { - "sha256": "5f48fc0be0a77b1aaee3cc94cdc715dbedbfe5ce1056ab344fdc318856f452c6" + "sha256": "ea007e45d99f937c590eef2748d237238c25d98a1f1a27a865f72264ec7b6705" } } diff --git a/kinova_jaco2_j2n7s300_instanceable/j2n7s300_instanceable.usda b/kinova_jaco2_j2n7s300_instanceable/j2n7s300_instanceable.usda index 2e5ad1e16a529d39c79c2b3140ad7eb064e27c8d..f3c9c739c8efd355706665b50e31f7d2b8b27f72 100644 --- a/kinova_jaco2_j2n7s300_instanceable/j2n7s300_instanceable.usda +++ b/kinova_jaco2_j2n7s300_instanceable/j2n7s300_instanceable.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" = { @@ -295,6 +1243,9 @@ def Xform "j2n7s300" ( , , ] + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) over "j2n7s300_link_7" { diff --git a/kinova_jaco2_j2n7s300_instanceable/payloads/Physics/physics.usda b/kinova_jaco2_j2n7s300_instanceable/payloads/Physics/physics.usda index 667af445ba49ac426c0f9de51899d2bc34c9cd2d..99387493b210fd842b3a3f9ef337369a3dbb38c5 100644 --- a/kinova_jaco2_j2n7s300_instanceable/payloads/Physics/physics.usda +++ b/kinova_jaco2_j2n7s300_instanceable/payloads/Physics/physics.usda @@ -81,7 +81,7 @@ def "j2n7s300" ( float drive:angular:physics:damping = 316.228 float drive:angular:physics:maxForce = 4800 float drive:angular:physics:stiffness = 10000 - float drive:angular:physics:targetPosition = 120 + float drive:angular:physics:targetPosition = 0 float drive:angular:physics:targetVelocity = 0 uniform token drive:angular:physics:type = "force" custom string isaac:nameOverride @@ -100,11 +100,11 @@ def "j2n7s300" ( float physics:breakTorque = 3.4028235e38 point3f physics:localPos0 = (4.1771986e-16, 0.0016, -0.118750006) point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-0.5, 0.50000006, -0.49999997, 0.49999997) + quatf physics:localRot0 = (0.6830128, 0.1830127, -0.18301271, -0.68301266) quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = 30 - float physics:upperLimit = 329.99997 - float state:angular:physics:position = 120 + float physics:lowerLimit = -90 + float physics:upperLimit = 209.99997 + float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 } @@ -187,7 +187,7 @@ def "j2n7s300" ( float drive:angular:physics:damping = 316.228 float drive:angular:physics:maxForce = 2400 float drive:angular:physics:stiffness = 10000 - float drive:angular:physics:targetPosition = 90 + float drive:angular:physics:targetPosition = 0 float drive:angular:physics:targetVelocity = 0 uniform token drive:angular:physics:type = "force" custom string isaac:nameOverride @@ -206,11 +206,11 @@ def "j2n7s300" ( float physics:breakTorque = 3.4028235e38 point3f physics:localPos0 = (0, 0, -0.20499994) point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.50000006, 0.49999994, 0.50000006, 0.49999997) + quatf physics:localRot0 = (7.445852e-8, 0.70710677, 0.7071068, -5.1924506e-8) quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = 30 - float physics:upperLimit = 329.99997 - float state:angular:physics:position = 90 + float physics:lowerLimit = -60 + float physics:upperLimit = 239.99997 + float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 } diff --git a/kinova_jaco2_j2n7s300_instanceable/payloads/instances.usda b/kinova_jaco2_j2n7s300_instanceable/payloads/instances.usda index 0dc36f5b06ecb4ed0589237b35e3f796ea44a0f8..b34d2726c0cca01bb4e2be4b604c33c119efc3bb 100644 --- a/kinova_jaco2_j2n7s300_instanceable/payloads/instances.usda +++ b/kinova_jaco2_j2n7s300_instanceable/payloads/instances.usda @@ -45,7 +45,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -98,7 +98,7 @@ 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 } } @@ -192,7 +192,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -233,7 +233,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -286,7 +286,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -339,7 +339,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -392,7 +392,7 @@ 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 } } @@ -486,7 +486,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -539,7 +539,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -592,7 +592,7 @@ 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/kinova_jaco2_j2n7s300_instanceable/payloads/materials.usda b/kinova_jaco2_j2n7s300_instanceable/payloads/materials.usda index a94586654be897d106bf9e929cfd8517376e5aab..41f6b47ff8fe0088518570c30fedfa516675140b 100644 --- a/kinova_jaco2_j2n7s300_instanceable/payloads/materials.usda +++ b/kinova_jaco2_j2n7s300_instanceable/payloads/materials.usda @@ -22,6 +22,7 @@ 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" ) @@ -78,9 +79,18 @@ 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 "material_Material_001_1" @@ -94,6 +104,7 @@ 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" ) @@ -150,9 +161,18 @@ 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 "material_DefaultMaterial" @@ -166,6 +186,7 @@ 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" ) @@ -214,9 +235,18 @@ 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 "material_Material_001_2" @@ -230,6 +260,7 @@ 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" ) @@ -286,9 +317,18 @@ 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 "material_Material_001_3" @@ -302,6 +342,7 @@ 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" ) @@ -358,9 +399,18 @@ 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 "material_Material_001_4" @@ -374,6 +424,7 @@ 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" ) @@ -430,9 +481,18 @@ 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/kinova_jaco2_j2n7s300_instanceable/runnables/physics/newton.usda b/kinova_jaco2_j2n7s300_instanceable/runnables/physics/newton.usda index 2c06290b35b3123220f9a75f1d31bdb7b6af337b..0ec2c17ba3b4658c514546f25b43ae0dbec21365 100644 --- a/kinova_jaco2_j2n7s300_instanceable/runnables/physics/newton.usda +++ b/kinova_jaco2_j2n7s300_instanceable/runnables/physics/newton.usda @@ -11,9 +11,6 @@ over "j2n7s300" ( over "j2n7s300_link_7" { - quatd xformOp:orient = (0.5426583188504319, 1.6277387880131112e-7, 0.8399533982746464, 8.540174604641785e-8) - double3 xformOp:translate = (-0.0834290799088795, -0.06106186872100171, 0.0690567109579192) - over "collisions" { over "mesh_0_6" ( @@ -57,9 +54,6 @@ over "j2n7s300" ( over "j2n7s300_link_6" { - quatd xformOp:orient = (-0.41997674515366296, 0.7274209778256309, 0.2713289863981479, 0.4699559125190006) - double3 xformOp:translate = (-0.024959058900054204, -0.024030000842416913, 0.0426928208108334) - over "collisions" { over "mesh_0_5" ( @@ -85,9 +79,6 @@ over "j2n7s300" ( over "j2n7s300_link_5" { - quatd xformOp:orient = (0.5426583666140987, 1.2275414042492588e-7, 0.8399534520773558, 5.9546689944701134e-8) - double3 xformOp:translate = (0.03351195523725306, 0.012999994138503012, 0.016328492307891962) - over "collisions" { over "mesh_0_5" ( @@ -113,9 +104,6 @@ over "j2n7s300" ( over "j2n7s300_link_4" { - quatd xformOp:orient = (0.5939367889607928, 0.5939368816951875, -0.38371744667180585, 0.38371735336224017) - double3 xformOp:translate = (0.2224898411873928, 0.0015999939634236584, -0.06888090843461239) - over "collisions" { over "mesh_0_4" ( @@ -141,9 +129,6 @@ over "j2n7s300" ( over "j2n7s300_link_3" { - quatd xformOp:orient = (1.2994850694049557e-7, -0.28288373125603905, 9.533402387200938e-9, 0.9591541785909968) - double3 xformOp:translate = (0.11124495038516133, 0.001599996961500563, 0.10330951509914679) - over "collisions" { over "mesh_0_3" ( @@ -160,18 +145,13 @@ over "j2n7s300" ( { float drive:angular:physics:damping = 0 float drive:angular:physics:stiffness = 2240 - float drive:angular:physics:targetPosition = 32.86479 float newton:damping = 74.666664 float newton:velocityLimit = 36 - float state:angular:physics:position = 32.86479 } } over "j2n7s300_link_2" { - quatd xformOp:orient = (0.6782244403652865, 0.6782244617726867, -0.2000290606513467, 0.2000289515100953) - double3 xformOp:translate = (1.1890475457475833e-8, 0.0015999999595806003, 0.2754999995231624) - over "collisions" { over "mesh_0_2" ( @@ -213,10 +193,8 @@ over "j2n7s300" ( { float drive:angular:physics:damping = 0 float drive:angular:physics:stiffness = 4480 - float drive:angular:physics:targetPosition = 32.86479 float newton:damping = 149.33333 float newton:velocityLimit = 36 - float state:angular:physics:position = 32.86479 } } @@ -245,17 +223,8 @@ over "j2n7s300" ( } } - over "j2n7s300_end_effector" - { - quatd xformOp:orient = (0.5939369777962221, -0.3837171643017423, -0.38371717155080376, 0.5939364471951029) - double3 xformOp:translate = (-0.22928752796586732, -0.06106188477361692, 0.13482367684539226) - } - over "j2n7s300_link_finger_1" { - quatd xformOp:orient = (0.45755915089835425, 0.18002374810907387, -0.00959646358732911, 0.8707115069783334) - double3 xformOp:translate = (-0.18911081974746582, -0.02980189314070969, 0.11364767338002144) - over "collisions" { over "mesh_0_7" ( @@ -279,9 +248,6 @@ over "j2n7s300" ( over "j2n7s300_link_finger_tip_1" { - quatd xformOp:orient = (0.45755915089835414, 0.18002374810907387, -0.009596463587329102, 0.8707115069783334) - double3 xformOp:translate = (-0.20943435699826016, 0.0068487375700351585, 0.1273838684208579) - over "collisions" { over "mesh_0_8" ( @@ -295,9 +261,6 @@ over "j2n7s300" ( over "j2n7s300_link_finger_2" { - quatd xformOp:orient = (-0.14741602510440482, -0.4154875383918574, 0.8805842769111599, 0.17380936910841183) - double3 xformOp:translate = (-0.197250589288677, -0.08813185894029976, 0.09596016597061359) - over "collisions" { over "mesh_0_7" ( @@ -321,9 +284,6 @@ over "j2n7s300" ( over "j2n7s300_link_finger_tip_2" { - quatd xformOp:orient = (-0.1474160251044048, -0.41548753839185737, 0.8805842769111599, 0.1738093691084118) - double3 xformOp:translate = (-0.22210527378285125, -0.12436629720367245, 0.09974284509972098) - over "collisions" { over "mesh_0_8" ( @@ -337,9 +297,6 @@ over "j2n7s300" ( over "j2n7s300_link_finger_3" { - quatd xformOp:orient = (-0.2275717964284272, -0.4502081523042722, 0.8633488664400262, 0.012336539816025156) - double3 xformOp:translate = (-0.1789509223994176, -0.0881318806410709, 0.13654528862737897) - over "collisions" { over "mesh_0_7" ( @@ -363,9 +320,6 @@ over "j2n7s300" ( over "j2n7s300_link_finger_tip_3" { - quatd xformOp:orient = (-0.22757179642842715, -0.45020815230427214, 0.8633488664400262, 0.012336539816025165) - double3 xformOp:translate = (-0.19824171568640805, -0.12436632605546619, 0.15266760259568557) - over "collisions" { over "mesh_0_8" ( diff --git a/kinova_jaco2_j2n7s300_instanceable/runnables/physics/physx.usda b/kinova_jaco2_j2n7s300_instanceable/runnables/physics/physx.usda index 89438e617d2491ef2f134745223e5bef64dc4d3e..db55a414506e466669c4a7ea9ceaa6db4fd52e6f 100644 --- a/kinova_jaco2_j2n7s300_instanceable/runnables/physics/physx.usda +++ b/kinova_jaco2_j2n7s300_instanceable/runnables/physics/physx.usda @@ -46,10 +46,10 @@ over "j2n7s300" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:targetPosition = 120 + float drive:angular:physics:targetPosition = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 36 - float state:angular:physics:position = 120 + float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 } @@ -90,10 +90,10 @@ over "j2n7s300" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] ) { - float drive:angular:physics:targetPosition = 90 + float drive:angular:physics:targetPosition = 0 float physxJoint:jointFriction = 0 float physxJoint:maxJointVelocity = 36 - float state:angular:physics:position = 90 + float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 } @@ -321,5 +321,10 @@ over "j2n7s300" ( } } } + + over "__fixed_base_joint" + { + bool physics:jointEnabled = 0 + } } diff --git a/kuka_kr210_l150/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kuka_kr210_l150/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 5655e07c8b889f93a667cf7d8b825cc24b727fdf..20e5f0e5b87d45f90eac847d4d992c5ff51b789b 100644 --- a/kuka_kr210_l150/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/kuka_kr210_l150/.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": "2026-10-26T18:20:21", + "timestamp": "2026-11-02T23:11:55", "assets": [ { "asset": "kr210_l150.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": "66d6137a813068344d631be2352fa2f65fbfbd13d92a0ea8d4b688a89df7c91d" + "sha256": "b7a7c5b2ec43cabd9fc7f31b4ce3603051558a48504062cdfdf47ab5b8491e8a" } } diff --git a/kuka_kr210_l150/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/kuka_kr210_l150/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..4ef28ff1de154d55c3472d34aa14791d137af81c 100644 --- a/kuka_kr210_l150/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/kuka_kr210_l150/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:11:57", "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/kuka_kr210_l150/.metadata/com.nvidia.simready.packaging.bom.json b/kuka_kr210_l150/.metadata/com.nvidia.simready.packaging.bom.json index 90387424eb10b75123c8dd6b2a22f6d6dddb0f54..949d8758ff081739fe9cae2a33871fc7cacc3c44 100644 --- a/kuka_kr210_l150/.metadata/com.nvidia.simready.packaging.bom.json +++ b/kuka_kr210_l150/.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/kuka_kr210_l150/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/kuka_kr210_l150/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49437, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "60678caf466441b20cc980d25651ae4cad35d680a6cb335ac019829b84246b9b", + "sha256": "06dfaae702000e6d9fc552d2267886882dc632a5aa12cb665f7cb8291bae4e31" } }, { @@ -18,20 +18,12 @@ "sha256": "cbe09abd3d999ec4a42f0880cd753830f02667295341e7097dc42e273aaee797" } }, - { - "relative_path": ".thumbs/kr210_l150.thumb.usd", - "size": 6127, - "hash": { - "sha256-flat-1mb": "3f95deccb51169cfa95db5c8eb144a3ffb8a6d5300dc532e2a81607713b41b2c", - "sha256": "128e80761c136ec5baba278e35722a8351d92d8f30c7bdb0ee8b1ebbae9ef5f5" - } - }, { "relative_path": "kr210_l150.usda", - "size": 16684, + "size": 82230, "hash": { - "sha256-flat-1mb": "7d190408d70b3c0dec74d57b03e48a74143479b6519ec3fda354f70e3dd061f3", - "sha256": "38ad44a0316a0a79b73a0244713b4075b2f7276c9081c33dc31057cc5ded2484" + "sha256-flat-1mb": "89c0bb2cbe093bfeee80744a08ad16a78a1c3461c9be8af36c269c79d3ffc700", + "sha256": "aff14b1c7166f29b5e8b9cbe891469ae5ad5daf1b772fa77f35ede20b80f8728" } }, { @@ -141,10 +133,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 2423, + "size": 2431, "hash": { - "sha256-flat-1mb": "a4f08544a0b0a28830adad240dec8afd47a83e343e3f13791c3c0045ea0facae", - "sha256": "8bec7b031256a0daa6a10f65f7f032f3d9b1bae6467c9bcc6663d2f329f0314f" + "sha256-flat-1mb": "56f10a552b760b71bbb8cffd5ee5042ae59b682699a51450f2fc4b2fd7e16f7c", + "sha256": "e0a28244b33dc0e682b819c4bb87d0a70188ecbfe0071f16e450954c716c1ff7" } }, { @@ -173,11 +165,11 @@ }, { "relative_path": "runnables/physics/physx.usda", - "size": 4113, + "size": 4194, "hash": { - "sha256-flat-1mb": "cf9b4600c66ff07801defb42758cbd1e0ffd027ea1471d696e99c867cca1303e", - "sha256": "93e6b69aea9e4d0c73d7926897dca04a0f5dd23fd228b068fb8e5f02327a6ff5" + "sha256-flat-1mb": "73fa143417d0f638fc9fc67b504d40294571415e3168b67231760df38603a801", + "sha256": "deb8fdb4d14a472aea34b20bdcd4ead7a0a05afa0c081d9cf5ed37ec68a1d74c" } } ] -} +} \ No newline at end of file diff --git a/kuka_kr210_l150/.simready/validation.json b/kuka_kr210_l150/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/kuka_kr210_l150/.simready/validation.json +++ b/kuka_kr210_l150/.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", + 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+ "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/kuka_kr210_l150/.thumbs/kr210_l150.thumb.usd b/kuka_kr210_l150/.thumbs/kr210_l150.thumb.usd deleted file mode 100644 index 7c36e9f87521c7fc53408e9bf1c25ced9687184a..0000000000000000000000000000000000000000 Binary files a/kuka_kr210_l150/.thumbs/kr210_l150.thumb.usd and /dev/null differ diff --git a/kuka_kr210_l150/com.nvidia.simready.packaging.json b/kuka_kr210_l150/com.nvidia.simready.packaging.json index 011ba54a7987d1bab96ff5dc768c03121c08b2e4..489ed11270ccc72f3d5690169c1a3952901a0116 100644 --- a/kuka_kr210_l150/com.nvidia.simready.packaging.json +++ b/kuka_kr210_l150/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.kuka_kr210_l150.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.kuka_kr210_l150.3.0.0", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "71e1f325d64e1902c2849ab69462476ba1573733da2ba857d70d01afa8e3dcfb" + "sha256": "284898b9856dc69cd9c40c948d07de54ffdd151f59a9d5cacd24cd6c55029ee6" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "8d49f34b601214cd04a8be1bb8e1de636cd867518413acc94e1958c64f286056" + "sha256": "6637bcfaf42af619f98e6233a656ab0ce4f88293dc9a9159499323d71103fccc" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "8eb73475b9c065219e810c7c0ed9318d29d32fc133f0508e45cca2d68f34b88d" + "sha256": "b7a7c5b2ec43cabd9fc7f31b4ce3603051558a48504062cdfdf47ab5b8491e8a" }, "package_hash": { - "sha256": "cd966df45ea2d0d99023871da2a6694281e4b1805c616dcf958257bb28d965ce" + "sha256": "fc8980c81316c752fdafd37d0546bc6e302cd039489d7f8c25d7733b94d105dc" } } diff --git a/kuka_kr210_l150/kr210_l150.usda b/kuka_kr210_l150/kr210_l150.usda index 8957101c2c5d67c69d111276a116aaaf5947f85a..f509bb6a2133c01eb8d7248b5a0d9b416aecef11 100644 --- a/kuka_kr210_l150/kr210_l150.usda +++ b/kuka_kr210_l150/kr210_l150.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/kuka_kr210_l150/payloads/materials.usda b/kuka_kr210_l150/payloads/materials.usda index ddad62c0ee76afe219dbd69c1110336c0a2e61f5..947b9edfddd89f7941d900ea4ee94d954b324906 100644 --- a/kuka_kr210_l150/payloads/materials.usda +++ b/kuka_kr210_l150/payloads/materials.usda @@ -22,7 +22,7 @@ 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" ) @@ -59,7 +59,7 @@ 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/kuka_kr210_l150/runnables/physics/physx.usda b/kuka_kr210_l150/runnables/physics/physx.usda index 582bbca7456bc30879a9a57e8f98327f0d080c8f..cf89fadcf684e00ad9225af91ce67c45e9ac3ca5 100644 --- a/kuka_kr210_l150/runnables/physics/physx.usda +++ b/kuka_kr210_l150/runnables/physics/physx.usda @@ -154,5 +154,10 @@ over "kuka_kr210" ( } } } + + over "__fixed_base_joint" + { + bool physics:jointEnabled = 0 + } } diff --git a/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 1ef91b5198b26774b0481d44fa64104075ebc63e..a9191fab1a0e4470c73de162b0550920b609d32e 100644 --- a/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/kuka_lbr_iiwa_kuka/.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": "2026-10-26T18:20:23", + "timestamp": "2026-11-02T23:11:58", "assets": [ { "asset": "kuka.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": "ef490146d85cb9cfdd409e64a167f8b112c79e1d7599b736211b984755892600" + "sha256": "0284f9eb1c18be01b02babb4e7f711718956ce1fb3a59f2b31da4ee7cbab0dcd" } } diff --git a/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..c41117a5608f0cc9310613d0d5a62d248336c54e 100644 --- a/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/kuka_lbr_iiwa_kuka/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:12:00", "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/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.packaging.bom.json b/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.packaging.bom.json index 065c522369f2d1f7854dca9d3029cc8f66d2c85f..f04d0ad933faa42edf70fe3e93d422869eb91c9a 100644 --- a/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.packaging.bom.json +++ b/kuka_lbr_iiwa_kuka/.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/kuka_lbr_iiwa_kuka/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/kuka_lbr_iiwa_kuka/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7905, + "size": 49437, "hash": { - "sha256-flat-1mb": "0b697c876db9ad401c217e6b0f20edcf69268cb83aa3f1941d3dc2280b76e098", - "sha256": "f1b7c87276a067a568427c0f726c53d3f2d1d981dbab738da87ea9167cd02a6b" + "sha256-flat-1mb": "60678caf466441b20cc980d25651ae4cad35d680a6cb335ac019829b84246b9b", + "sha256": "06dfaae702000e6d9fc552d2267886882dc632a5aa12cb665f7cb8291bae4e31" } }, { @@ -18,20 +18,12 @@ "sha256": "2b045ff56dbf009b0a268ac4931e9406776af5beeb5576e9073ef0982d52a8e7" } }, - { - "relative_path": ".thumbs/kuka.thumb.usd", - "size": 6680, - "hash": { - "sha256-flat-1mb": "35e7a2cd367a3c63230d38c7c05eac18f45c55b2a8be6183b2e8eed3dfe3cf12", - "sha256": "1e866c92ea325d9cf87a192a962b8e993d70db686019abd717cf7110f8fa09f2" - } - }, { "relative_path": "kuka.usda", - "size": 15775, + "size": 80995, "hash": { - "sha256-flat-1mb": "88fc7e8aaf71b2fe76b327f7c04d5b35f9c53923604e366e3a51b2c3768eda14", - "sha256": "49e04b1d616dcf2560440ed916e381216138b460630ac9dcb9848d92dbc83e46" + "sha256-flat-1mb": "df8665e0d06a3fe04694040b68a542fcc48f4db41edee16e66c3406e31681fa3", + "sha256": "eaab5ae7bd5e4c1b57b1c59212d540e5a91d9f41409e5e4c0af4605d4cbbb9c6" } }, { @@ -397,11 +389,11 @@ }, { "relative_path": "payloads/Physics/dependencies/geometries_1.usd", - "size": 11535712, + "size": 11535894, "hash": { - "sha256-flat-1mb": "5f9ba2d5d58d67a0165924ee24b7c31080eb2fc485b866f0a633e801cd86472a", - "sha256": "e87c14b96d8fd27f14a125a001a945c56472867d73ef59d5f06e99c9a433df10", - "sha256-first1m": "9f758b67947822336362e964f13d20036655758e64285bccdcc7515dc4beb400" + "sha256-flat-1mb": "dbe072f3034abf9da3d63cd83d3171d8b31109412201ecd4b555307f5175d798", + "sha256": "70325ffa2cf8fb490039b7f4ef467707da51d4575f87e1000801fb572dc91dcb", + "sha256-first1m": "e04f9e7c496fcb243363f771a882b61e1621bf718dc0bb669d60267f89d9a3c7" } }, { @@ -430,10 +422,10 @@ }, { "relative_path": "payloads/Physics/dependencies/instances_1.usda", - "size": 11244, + "size": 11252, "hash": { - "sha256-flat-1mb": "9fb0e5ed491adf4838a6c39efc506b31cb2343b8e026ffd9b8246a97777e7123", - "sha256": "5b49b9cf0acf91274cdf1f6cadcb933a210b532f82e184e09a6231559dd3f48b" + "sha256-flat-1mb": "beb9da17f904196e80d22fc1b4044a44ce7277fb1b8a5297d8fcdfbcbedbaf2b", + "sha256": "55ec087657b2bdab2218ad1449d926c04dabcf2ca132bbc1e8fa27023957755d" } }, { @@ -454,10 +446,10 @@ }, { "relative_path": "payloads/Physics/dependencies/materials_1.usda", - "size": 15702, + "size": 17871, "hash": { - "sha256-flat-1mb": "02a38f601a748f8d5dc755c93206bca7479e83d3c9025764ccb9e5b94b1633d6", - "sha256": "b69759f1638f8ff9b1cbc25d089c1fbec656cd7380949f9c66ab75b400a1dee0" + "sha256-flat-1mb": "3464dd8ec6e28c3f65fb3a33f2b07c836ae9c7b48fe320d87001c44b5d1505fc", + "sha256": "9ff418e950c2dcd5b397c0f161a94626db16577b5cd2dc078c7d340ca25d1def" } }, { @@ -534,27 +526,27 @@ }, { "relative_path": "payloads/geometries.usd", - "size": 11535883, + "size": 11536070, "hash": { - "sha256-flat-1mb": "d5d36946304f4e1616c8057815df85c2b56808f577685e9256965fb7d99af6b1", - "sha256": "9763de3ec68a04c15df0c9aec8f4437a8c6c7035f892beac7472f2c1b110d67b", - "sha256-first1m": "d9db327566f03192a34d9165bca5796a2d73f4f301e7fb3eb5eaabd095533b0b" + "sha256-flat-1mb": "0426fb31258d8cc5d79a66c395ce6a7504c0c1e009e265f9b22a81b982d9ccc1", + "sha256": "52172aee30e64e6e488897b997bafd8bc8b757e5edfd9f92b44630224dbb954b", + "sha256-first1m": "1252c15deb04aa31cbd9e7168918afff39749ad50490fad33b431f47b4b0631b" } }, { "relative_path": "payloads/instances.usda", - "size": 11212, + "size": 11220, "hash": { - "sha256-flat-1mb": "358445cdace3a5c182354e8f7eae9c7e3e8378447be3dc409724a05f22e38a73", - "sha256": "de51dd03a4268bb0672b2c5d97ca82b2355cf89a089ada40b6fc5c8e271ce039" + "sha256-flat-1mb": "e9e3bd138e9edd328d840c0aa376680ffc45009bc4f6e1027c39c4c94a1953cf", + "sha256": "53d63d71560253afb80ac1d14125e1f1088da79fabf1f96d28ce947d36f06097" } }, { "relative_path": "payloads/materials.usda", - "size": 7172, + "size": 8030, "hash": { - "sha256-flat-1mb": "eb4c3e5abde2092898dde922b030e50efb815b77b6cd5ba5746b5d56322c77ca", - "sha256": "ba5c15e151d27f34bcddaf7a1fb55823bc173dcf649067a305b429d958796df7" + "sha256-flat-1mb": "0146573a6bbbb53281a0a1c8253cbb41ff61205e765507ff190ce8c41c882faa", + "sha256": "29fae49bb452b30590b613ff6a1b42291528aacca4c1ff94443b7aafd7bcbec9" } }, { @@ -590,4 +582,4 @@ } } ] -} +} \ No newline at end of file diff --git a/kuka_lbr_iiwa_kuka/.simready/validation.json b/kuka_lbr_iiwa_kuka/.simready/validation.json index ab652dc3dd4e3487d64b599ba14ce73e0b8f5288..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/kuka_lbr_iiwa_kuka/.simready/validation.json +++ b/kuka_lbr_iiwa_kuka/.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', 'com.nvidia.simready.DISP.002', 'com.nvidia.simready.DISP.003']", - "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": "/.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": 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"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/kuka_lbr_iiwa_kuka/.thumbs/kuka.thumb.usd b/kuka_lbr_iiwa_kuka/.thumbs/kuka.thumb.usd deleted file mode 100644 index 524597402bccf7247eee339b9911689c81c09a02..0000000000000000000000000000000000000000 Binary files a/kuka_lbr_iiwa_kuka/.thumbs/kuka.thumb.usd and /dev/null differ diff --git a/kuka_lbr_iiwa_kuka/com.nvidia.simready.packaging.json b/kuka_lbr_iiwa_kuka/com.nvidia.simready.packaging.json index 39080f4344afe460a7b8c0dab7fbb29e6e261d07..7bda9e7a1de1dfca02a88e03a044d06e11a761ca 100644 --- a/kuka_lbr_iiwa_kuka/com.nvidia.simready.packaging.json +++ b/kuka_lbr_iiwa_kuka/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.kuka_lbr_iiwa_kuka.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.kuka_lbr_iiwa_kuka.3.0.0", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "7b230cd8158cf4fa63ee29d6bff5bc82ec72554cb26842376f455b5b5084d362" + "sha256": "98401fdb29cfa25d12d5e6602f89f3564b2a02666f892509a14dd5e5086f7962" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "38c2ca3d93b101d7a1bb4fad85a03ac4aaee9458833b3fe0ceb01f16ce4f6ccd" + "sha256": "a276908e593d281c17af46077cbf80aa6347f989773b60c20a8b98ca878837f2" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "a76301f3de47e07b66b8c9c7a812f1eb82e628ea82c72bfe95f22e506b80b302" + "sha256": "0284f9eb1c18be01b02babb4e7f711718956ce1fb3a59f2b31da4ee7cbab0dcd" }, "package_hash": { - "sha256": "5bdb1be9f9f2bee0f379593e116d69f42f81e42bfa9ce93ac2bab5e7acd9be63" + "sha256": "7292cf42bedc7e86b451f49d2a992ef35a786936d8135c512ddbca61eaf839fb" } } diff --git a/kuka_lbr_iiwa_kuka/kuka.usda b/kuka_lbr_iiwa_kuka/kuka.usda index bc1f927ea1f3fb6e24f498a6c3c3c4da06cf3976..f8a12d616dd5f4b8f0246329812bcbc19634449b 100644 --- a/kuka_lbr_iiwa_kuka/kuka.usda +++ b/kuka_lbr_iiwa_kuka/kuka.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', 'com.nvidia.simready.DISP.002', 'com.nvidia.simready.DISP.003']" - bool passed = 0 + bool passed = 1 string version = "0-1-0" } dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { @@ -278,6 +1225,10 @@ def Xform "Root" ( variantSets = ["Gripper", "PhysX", "Newton", "MuJoCo"] ) { + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + over "iiwa7_link_0" { over "collisions" diff --git a/kuka_lbr_iiwa_kuka/payloads/Physics/dependencies/geometries_1.usd b/kuka_lbr_iiwa_kuka/payloads/Physics/dependencies/geometries_1.usd index c1ada081482edefb43a85849189f94d1cf8f589a..647fd1a540f5b735b93f09d61a1e6d06982a25ba 100644 --- a/kuka_lbr_iiwa_kuka/payloads/Physics/dependencies/geometries_1.usd +++ b/kuka_lbr_iiwa_kuka/payloads/Physics/dependencies/geometries_1.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e87c14b96d8fd27f14a125a001a945c56472867d73ef59d5f06e99c9a433df10 -size 11535712 +oid sha256:70325ffa2cf8fb490039b7f4ef467707da51d4575f87e1000801fb572dc91dcb +size 11535894 diff --git a/kuka_lbr_iiwa_kuka/payloads/Physics/dependencies/instances_1.usda b/kuka_lbr_iiwa_kuka/payloads/Physics/dependencies/instances_1.usda index 050f383d52290cce6c381b1efc3b61c157b1be24..5a5b451bda5dfdd23a784978d1d6051ffef0756d 100644 --- a/kuka_lbr_iiwa_kuka/payloads/Physics/dependencies/instances_1.usda +++ b/kuka_lbr_iiwa_kuka/payloads/Physics/dependencies/instances_1.usda @@ -44,7 +44,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -87,7 +87,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -128,7 +128,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -169,7 +169,7 @@ 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 } } @@ -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 } } @@ -292,7 +292,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -333,7 +333,7 @@ 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/kuka_lbr_iiwa_kuka/payloads/Physics/dependencies/materials_1.usda b/kuka_lbr_iiwa_kuka/payloads/Physics/dependencies/materials_1.usda index b9adf333aa81ff86bfa18a1aa5c7418c54b0639b..73b49290da5df7de119a019567d9fb71d1eb9de0 100644 --- a/kuka_lbr_iiwa_kuka/payloads/Physics/dependencies/materials_1.usda +++ b/kuka_lbr_iiwa_kuka/payloads/Physics/dependencies/materials_1.usda @@ -18,6 +18,7 @@ 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" ) @@ -96,9 +97,18 @@ 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 "material_DefaultMaterial" @@ -109,6 +119,7 @@ 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" ) @@ -159,9 +170,18 @@ 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 "arm_orange" @@ -172,6 +192,7 @@ 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" ) @@ -251,9 +272,18 @@ 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 "allegro_black" @@ -264,6 +294,7 @@ 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" ) @@ -342,9 +373,18 @@ 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 "allegro_biotac" @@ -355,6 +395,7 @@ 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" ) @@ -433,9 +474,18 @@ 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/kuka_lbr_iiwa_kuka/payloads/geometries.usd b/kuka_lbr_iiwa_kuka/payloads/geometries.usd index 02da4cde6db86d452dd6e6ca873645b5535402e6..a606c312e620b089f7819bc61e5f741432b9a9a3 100644 --- a/kuka_lbr_iiwa_kuka/payloads/geometries.usd +++ b/kuka_lbr_iiwa_kuka/payloads/geometries.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9763de3ec68a04c15df0c9aec8f4437a8c6c7035f892beac7472f2c1b110d67b -size 11535883 +oid sha256:52172aee30e64e6e488897b997bafd8bc8b757e5edfd9f92b44630224dbb954b +size 11536070 diff --git a/kuka_lbr_iiwa_kuka/payloads/instances.usda b/kuka_lbr_iiwa_kuka/payloads/instances.usda index cee84a64063e4d9f9a72ece7186a1209a34435fb..d1bbb1e1f8f5f184913ebf7f9338342b62152ce2 100644 --- a/kuka_lbr_iiwa_kuka/payloads/instances.usda +++ b/kuka_lbr_iiwa_kuka/payloads/instances.usda @@ -44,7 +44,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -87,7 +87,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -128,7 +128,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -169,7 +169,7 @@ 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 } } @@ -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 } } @@ -292,7 +292,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -333,7 +333,7 @@ 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/kuka_lbr_iiwa_kuka/payloads/materials.usda b/kuka_lbr_iiwa_kuka/payloads/materials.usda index 2695262af2e4692c7d0fc325a543fc75bb2abf32..b522257069f268cfa527c6717c09bb4c51fb180c 100644 --- a/kuka_lbr_iiwa_kuka/payloads/materials.usda +++ b/kuka_lbr_iiwa_kuka/payloads/materials.usda @@ -21,6 +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:surface ( displayGroup = "Outputs" ) @@ -99,9 +100,18 @@ 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 "arm_orange" @@ -115,6 +125,7 @@ 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" ) @@ -194,9 +205,18 @@ 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/mecademic_meca500/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/mecademic_meca500/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index df1566ae46ff7757a693884c6c65da52ff496558..b6b1c9563373d28bd909f63d4efb6522e39ed9e2 100644 --- a/mecademic_meca500/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/mecademic_meca500/.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": "2026-10-26T18:20:25", + "timestamp": "2026-11-02T23:12:01", "assets": [ { "asset": "meca500.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": "4276eb508efd3d15150251e2228e99c72e701024d79a9e02cb7ffa9fa43439e3" + "sha256": "304e7cc691aa72602be6c82ba0cfa4ea783e2fbaef5ff9a5c38750d5566fc1a0" } } diff --git a/mecademic_meca500/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/mecademic_meca500/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..b82e0d826b090d334e8a5b4ad7d602a51bb26bea 100644 --- a/mecademic_meca500/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/mecademic_meca500/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:12:02", "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/mecademic_meca500/.metadata/com.nvidia.simready.packaging.bom.json b/mecademic_meca500/.metadata/com.nvidia.simready.packaging.bom.json index 2e8eca122f5225abd456d7f43c90acbfacd3d204..d52fd24d1126341165c33c40ad34d6dee18c6982 100644 --- a/mecademic_meca500/.metadata/com.nvidia.simready.packaging.bom.json +++ b/mecademic_meca500/.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/mecademic_meca500/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/mecademic_meca500/3.0.0", "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": "5b8ab9abac6e30292166010b8381e69a9a58f112f8dcc22faa1911b812815c82" } }, - { - "relative_path": ".thumbs/meca500.thumb.usd", - "size": 6915, - "hash": { - "sha256-flat-1mb": "5cc52684f2e797ba04ba163b075b783f22090604e7ed82ee397d0219b25a2239", - "sha256": "571518c21635daf89bd45017fb25415dffa7fac999c36cceb735d05b4c36b225" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -84,10 +76,10 @@ }, { "relative_path": "meca500.usda", - "size": 16366, + "size": 81912, "hash": { - "sha256-flat-1mb": "a5300bf69a673c498479ae11a2f09f073ff511dc272e380d844ab7453851c652", - "sha256": "12a139044026a67a94cee3606b165a19e95406eedb5bbbd371572a68bf667437" + "sha256-flat-1mb": "fd898b3fed6bb90a65199f9be15bc4925392856e1a15eca301640d1b51b099e1", + "sha256": "664a6d4f315a6ff602d1ea95d4ee9730820437d56e4fc939f96278dcc399b885" } }, { @@ -149,10 +141,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 45155, + "size": 45611, "hash": { - "sha256-flat-1mb": "ecdacf9ccef279c406910884422e86d5b6adf192935b0b970e7b672e0b812ab9", - "sha256": "59dad09e7e21ec83f8a2ba983ea08e6f3f1560001459f30466e9d2c428718c9b" + "sha256-flat-1mb": "2a141f162bb554562c9c343abf2f69f3e92b7359a08d021c2303ded7fd087d91", + "sha256": "7bfe87ab694134a13775da9cd4dd8cc29ab32d724ef1d1dcc026f4daeb5d9694" } }, { @@ -188,4 +180,4 @@ } } ] -} +} \ No newline at end of file diff --git a/mecademic_meca500/.simready/validation.json b/mecademic_meca500/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/mecademic_meca500/.simready/validation.json +++ b/mecademic_meca500/.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", + "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": 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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/mecademic_meca500/.thumbs/meca500.thumb.usd b/mecademic_meca500/.thumbs/meca500.thumb.usd deleted file mode 100644 index 2c40c2cef721a77f64db0254f1a53eaf6937aaef..0000000000000000000000000000000000000000 Binary files a/mecademic_meca500/.thumbs/meca500.thumb.usd and /dev/null differ diff --git a/mecademic_meca500/com.nvidia.simready.packaging.json b/mecademic_meca500/com.nvidia.simready.packaging.json index 5771aa3430a945728b96f0ce4b45be440df0ab62..318e621dfbb2267380f43f065705bfcb87744f58 100644 --- a/mecademic_meca500/com.nvidia.simready.packaging.json +++ b/mecademic_meca500/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.mecademic_meca500.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.mecademic_meca500.3.0.0", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "b75f8088bafd32253b62b708d150e03afea6d67bb98514c9864423d00f32ee4a" + "sha256": "5f1c1fcbdd58794862fc203bc66c930ff625d2695217a1519f815bef8d6985b2" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "d326c48ea88f0eaf21a9ae94b0e685cba45c2578dc47ebb5d6af72f90d42e26f" + "sha256": "883db09a386414ff003feae1a03cdb68989a4807a7c3679e74aa2a4366ad51cb" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "da8512ff59c661f2c6896a0d12e7e23e210f0d5c45055cb1c462a3ab1b312813" + "sha256": "304e7cc691aa72602be6c82ba0cfa4ea783e2fbaef5ff9a5c38750d5566fc1a0" }, "package_hash": { - "sha256": "f1adb6f3cbc333ab8d62410e1c93c364d244b1a6a8b9b66c4c98d5d87c322a01" + "sha256": "2c5a4c979dc6363434bf1d45f0621614e264e84702e8bf2e7c895823929e3401" } } diff --git a/mecademic_meca500/meca500.usda b/mecademic_meca500/meca500.usda index 0e1ae962b4ddb28842f32e832196e440f1ec1a41..42f11a303e885ed8f320d452db28d6e6d52d07e6 100644 --- a/mecademic_meca500/meca500.usda +++ b/mecademic_meca500/meca500.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/mecademic_meca500/payloads/materials.usda b/mecademic_meca500/payloads/materials.usda index 0790da559c198c895ec6212ade5d83f5b7b005f8..8eb82564af55012e5fdbae423f0c9d931d427247 100644 --- a/mecademic_meca500/payloads/materials.usda +++ b/mecademic_meca500/payloads/materials.usda @@ -25,8 +25,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -48,7 +48,7 @@ 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@ @@ -57,7 +57,7 @@ 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) @@ -81,8 +81,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -104,7 +104,7 @@ 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@ @@ -113,7 +113,7 @@ 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) @@ -137,8 +137,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -160,7 +160,7 @@ 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@ @@ -169,7 +169,7 @@ 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) @@ -193,8 +193,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -216,7 +216,7 @@ 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@ @@ -225,7 +225,7 @@ 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) @@ -249,8 +249,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -272,7 +272,7 @@ 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@ @@ -281,7 +281,7 @@ 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) @@ -305,8 +305,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -328,7 +328,7 @@ 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@ @@ -337,7 +337,7 @@ 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) @@ -361,8 +361,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -384,7 +384,7 @@ 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@ @@ -393,7 +393,7 @@ 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) @@ -417,8 +417,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -440,7 +440,7 @@ 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@ @@ -449,7 +449,7 @@ 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) @@ -473,8 +473,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -496,7 +496,7 @@ 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@ @@ -505,7 +505,7 @@ 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) @@ -529,8 +529,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -552,7 +552,7 @@ 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@ @@ -561,7 +561,7 @@ 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) @@ -585,8 +585,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -608,7 +608,7 @@ 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@ @@ -617,7 +617,7 @@ 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) @@ -641,8 +641,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -664,7 +664,7 @@ 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@ @@ -673,7 +673,7 @@ 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) @@ -697,8 +697,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -720,7 +720,7 @@ 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@ @@ -729,7 +729,7 @@ 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) @@ -753,8 +753,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -776,7 +776,7 @@ 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@ @@ -785,7 +785,7 @@ 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) @@ -809,8 +809,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -832,7 +832,7 @@ 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@ @@ -841,7 +841,7 @@ 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) @@ -865,8 +865,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -888,7 +888,7 @@ 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@ @@ -897,7 +897,7 @@ 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) @@ -921,8 +921,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -944,7 +944,7 @@ 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@ @@ -953,7 +953,7 @@ 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) @@ -977,8 +977,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -1000,7 +1000,7 @@ 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@ @@ -1009,7 +1009,7 @@ 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) @@ -1033,8 +1033,8 @@ def Scope "Materials" displayGroup = "Outputs" ) prepend token outputs:displacement.connect = - 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" ) @@ -1056,7 +1056,7 @@ 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@ @@ -1065,7 +1065,7 @@ 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) diff --git a/openarm_openarm_bimanual/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/openarm_openarm_bimanual/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 00c4e9e9cadf0a6474ba9806647221b61551ee71..863999369d368c205df7c087c8ebed877024c86c 100644 --- a/openarm_openarm_bimanual/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/openarm_openarm_bimanual/.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": "2026-10-26T18:20:28", + "timestamp": "2026-11-02T23:12:03", "assets": [ { "asset": "openarm_bimanual.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": "7c7df96d9920096849d4e87eed0af9b3bbe1ecf06729b01ef0bde2feb059f23d" + "sha256": "c8ac317a2fb7cab69fc6d2baca7907568b210b3d33297c7499fe5fc0c647e60f" } } diff --git a/openarm_openarm_bimanual/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/openarm_openarm_bimanual/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..c5551aaf0359fcd1e8375b622747a812a77df5af 100644 --- a/openarm_openarm_bimanual/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/openarm_openarm_bimanual/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:12:05", "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/openarm_openarm_bimanual/.metadata/com.nvidia.simready.packaging.bom.json b/openarm_openarm_bimanual/.metadata/com.nvidia.simready.packaging.bom.json index d3ab2ea1e6a08199ddc204ed995159f108e75653..741400702ad3d6602ed1a964ad407454fbb5ca04 100644 --- a/openarm_openarm_bimanual/.metadata/com.nvidia.simready.packaging.bom.json +++ b/openarm_openarm_bimanual/.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/openarm_openarm_bimanual/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/openarm_openarm_bimanual/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49437, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "63578b8a61fa7a36813283f72105d0370310f1ece0ca802ba910c8728abe36eb", + "sha256": "fbeb12c58cb4aac643cf7a1c301bba66534721a1d2bf79f6d90daf97d125d528" } }, { @@ -18,14 +18,6 @@ "sha256": "da0bf413358426ee468ce23aeea7a2556b307e905244fd4edb1d23c57bb1cebc" } }, - { - "relative_path": ".thumbs/openarm_bimanual.thumb.usd", - "size": 6133, - "hash": { - "sha256-flat-1mb": "d3a8235751469ad7917b14c7d2de631fcfa2c6a6fe14b0a236a405db9d16072d", - "sha256": "ad019b4881349d398fe221c182b7933cae5107cf27f4b6935fbb86cb242f5fc2" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -84,10 +76,10 @@ }, { "relative_path": "openarm_bimanual.usda", - "size": 24140, + "size": 89686, "hash": { - "sha256-flat-1mb": "3e29428bc9188c21459271d9588ba0348c5d6d25a684d4fd7395a497f0e0e34f", - "sha256": "862078aec132515f290d8dec67689093ed0249452de7d7d6ad4663503669c031" + "sha256-flat-1mb": "6433d429b24bca431ae28da4e11f6b1210fe23f004557f155641037acdb8a209", + "sha256": "046de7426fdf89d355866fc5664e741211487156fa6b0444f69cf4230ccf3e69" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 57786, + "size": 57866, "hash": { - "sha256-flat-1mb": "4ebb6894e9a0f6bc5cb060e42cd0f7a374492b7b86ac789f500cd5c8de7c7c93", - "sha256": "bcd1950b198fc1ded74d99f813ecc0faae0d318f3b161a9bc35872a6f213d27d" + "sha256-flat-1mb": "60eea4f67df35e103646c4964c63d8815ce8603f426ea0dacb9041f559a94b47", + "sha256": "601b78d3a021ea0dff12db6aac02ea72c9cf2424e94a367db16a273da120e513" } }, { @@ -197,11 +189,11 @@ }, { "relative_path": "runnables/physics/physx.usda", - "size": 14971, + "size": 15052, "hash": { - "sha256-flat-1mb": "9f54670cd02ab6e3d52d910ae9f776bb6a6e9de99d76895d83e78c0a05d47d8b", - "sha256": "c3148ee507ee950b57682571e407bb8dcc77d465b86bd6ca11f3b79e4e632464" + "sha256-flat-1mb": "ebdb331bf4f95a031182061025c053b2278f7703e51f9c60a6d5462e6a6760e0", + "sha256": "44a31e1fca5f3a411b08b41ebb16399b8382cf285c576e34d7eca6a5ab640310" } } ] -} +} \ No newline at end of file diff --git a/openarm_openarm_bimanual/.simready/validation.json b/openarm_openarm_bimanual/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..f6c00dfbfcf97fb31c5c25e9a24f11faa25a1632 100644 --- a/openarm_openarm_bimanual/.simready/validation.json +++ b/openarm_openarm_bimanual/.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", + "version": "2.0.3" + }, + "normals_xz": { + "passed": true, + "status": "pass", + "name": "normals_xz", + "test_file": 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"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": false, + "status": "skipped", + "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": true, + "status": "pass", + "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/openarm_openarm_bimanual/.thumbs/openarm_bimanual.thumb.usd b/openarm_openarm_bimanual/.thumbs/openarm_bimanual.thumb.usd deleted file mode 100644 index 1b6107f0e2b58baf68141ccaa28b53c6955db8b5..0000000000000000000000000000000000000000 Binary files a/openarm_openarm_bimanual/.thumbs/openarm_bimanual.thumb.usd and /dev/null differ diff --git a/openarm_openarm_bimanual/com.nvidia.simready.packaging.json b/openarm_openarm_bimanual/com.nvidia.simready.packaging.json index 77cfeebb9e1fdb264c5840b476606bb49791a702..58091eb420a6e60badce43c725fe6a8d3f9979c6 100644 --- a/openarm_openarm_bimanual/com.nvidia.simready.packaging.json +++ b/openarm_openarm_bimanual/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.openarm_openarm_bimanual.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.openarm_openarm_bimanual.3.0.0", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "9ffbf343332f96c9c6a3b2a8765d2c7c17d93259c194562bf9c65cd2fb70f374" + "sha256": "9093f436e44b1314f4c0b0238baeb3711659ff5473d0fa70cf2ced5d99148e1f" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "67afd16e1d70c4176650702cfa4e66045386bb803528cc8bb52adad820ecf830" + "sha256": "631bc1ce7aa5d61677bf054f55c7bfa2a38714b92dfb540ad855c31779c6b6b3" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "c7416b1ab317a16d44476e65cc8c352b3f028165956f917c3433faf2b9c17b4e" + "sha256": "c8ac317a2fb7cab69fc6d2baca7907568b210b3d33297c7499fe5fc0c647e60f" }, "package_hash": { - "sha256": "62254f4f12f51e6ccedee6f59fdc9e9aea8a78a8eac9ff2e3ea612dfd7608032" + "sha256": "71b8f161349f15a9c2d45c939b135d364bb37fe570123620db73bfe713d5658d" } } diff --git a/openarm_openarm_bimanual/openarm_bimanual.usda b/openarm_openarm_bimanual/openarm_bimanual.usda index bc8add3b980cd8b2c0872851f723c7b44c972cd6..b599c36b0b3585f8145afcd48cc4f24e183a69d9 100644 --- a/openarm_openarm_bimanual/openarm_bimanual.usda +++ b/openarm_openarm_bimanual/openarm_bimanual.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 = 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/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 = 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_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/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 = 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/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/openarm_openarm_bimanual/payloads/materials.usda b/openarm_openarm_bimanual/payloads/materials.usda index a44112315f1a04467b014f9902b102d88cd1a6ee..6f03b034f6afd54645024f68bca8b666a7cff9ee 100644 --- a/openarm_openarm_bimanual/payloads/materials.usda +++ b/openarm_openarm_bimanual/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -829,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -970,7 +970,7 @@ 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) @@ -991,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1132,7 +1132,7 @@ 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) @@ -1153,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1294,7 +1294,7 @@ 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) @@ -1315,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1456,7 +1456,7 @@ 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) @@ -1477,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -1618,7 +1618,7 @@ 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/openarm_openarm_bimanual/runnables/physics/physx.usda b/openarm_openarm_bimanual/runnables/physics/physx.usda index 9bfb28c5f149814325420bce7ce0686a757bd65e..d8c1857ebeeb94ef5bfe8561bcf257ee471b39a8 100644 --- a/openarm_openarm_bimanual/runnables/physics/physx.usda +++ b/openarm_openarm_bimanual/runnables/physics/physx.usda @@ -510,5 +510,10 @@ over "openarm" int physxArticulation:solverPositionIterationCount = 32 int physxArticulation:solverVelocityIterationCount = 1 } + + over "__fixed_base_joint" + { + bool physics:jointEnabled = 0 + } } diff --git a/openarm_openarm_unimanual/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/openarm_openarm_unimanual/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 077818ca8e94255ba56cb5829d8be792fe788ae0..6e8755d47e6b7fbd9274bbb5bfaf88a2440b5098 100644 --- a/openarm_openarm_unimanual/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/openarm_openarm_unimanual/.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": "2026-10-26T18:20:30", + "timestamp": "2026-11-02T23:12:06", "assets": [ { "asset": "openarm_unimanual.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": "ede468c5813c087aed4f2b3759cf514905892c1ede5589a20a297785144ea0a2" + "sha256": "9d3102d800b391fba9685f0d0c89511f83847644d6189c93377a47a46f318263" } } diff --git a/openarm_openarm_unimanual/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/openarm_openarm_unimanual/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..9f2d922d2fded81593e62ba2ce25444ffd854516 100644 --- a/openarm_openarm_unimanual/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/openarm_openarm_unimanual/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:12:08", "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/openarm_openarm_unimanual/.metadata/com.nvidia.simready.packaging.bom.json b/openarm_openarm_unimanual/.metadata/com.nvidia.simready.packaging.bom.json index 9ec16fbbe4e8a373879f37479ef292a65bb498ed..76b76386180dd06af2405a5ce90e05571c014463 100644 --- a/openarm_openarm_unimanual/.metadata/com.nvidia.simready.packaging.bom.json +++ b/openarm_openarm_unimanual/.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/openarm_openarm_unimanual/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/openarm_openarm_unimanual/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49425, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "0a4f834047dcd7425b62be9a4e812bebe2acec9be4d178ab8a99801d1861305c", + "sha256": "8451dd63bc4ae22a9642193a9aee18c8c9e6e22eb33bb239f9537f7f83d8e8bd" } }, { @@ -18,14 +18,6 @@ "sha256": "c1c10f7533c7c0d884ec15ea02fdd13b348f55baa4e9fc98693a06bf75f6efdc" } }, - { - "relative_path": ".thumbs/openarm_unimanual.thumb.usd", - "size": 6134, - "hash": { - "sha256-flat-1mb": "5f34ed367293182a9e506f35fe0f5aa8107c09c8b9c7e29d7ffad56d8982a4aa", - "sha256": "7991e226399c78c4c83b0ead93261b4a638eca523c4b95d295638e71c2d010ca" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -84,10 +76,10 @@ }, { "relative_path": "openarm_unimanual.usda", - "size": 19100, + "size": 84637, "hash": { - "sha256-flat-1mb": "34ea0aff6edcc9e03ad78b304b8fee45fdc411835fb639e1d3574fdbdd167212", - "sha256": "5fb012669f9919dc7f8c6cceaad1ca2e22682025bd45579e32f952065fa82336" + "sha256-flat-1mb": "b522b99bd8ff496a2b9fc86c70eb5558829ac9edfb44fc564b9c384805b46998", + "sha256": "56578d6ea8ff94f579ffe271a46f136c7cc1378523c6756871e74b7cf7837e71" } }, { @@ -165,10 +157,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 40309, + "size": 40365, "hash": { - "sha256-flat-1mb": "0c549f4b8b940c0bd16c65e35f1ca4731dd1af1601043985ccff759b3502b327", - "sha256": "999d1cad6a49a5047886a60eff1348bbecf8fbbfc781bae2ba0f35298e1c30be" + "sha256-flat-1mb": "6e21f2b289f0a6db8420e7fe49b39efc0d2339608a92f7a4544bc52759a1ac23", + "sha256": "bcc1b0dca6b51fd0c77260d67f1d209b197c23031f418f4d8e8f1ffda565791e" } }, { @@ -197,11 +189,11 @@ }, { "relative_path": "runnables/physics/physx.usda", - "size": 7071, + "size": 7152, "hash": { - "sha256-flat-1mb": "22e34047f2f80e18edb821775e84c9894b0826f0c522f894bf291f898abc869f", - "sha256": "6065aba8dbe8719760e862d6259664bba4632de34145a3f32cf6dd8b5db8d43e" + "sha256-flat-1mb": "aa7ca938ae465925bbab10cdea785610652ca26ca0fb1ff35bfd65db147c2a44", + "sha256": "8049482ee8cb225770924e62bc895a3fecb54e8c34280b3d32055971382bc4e6" } } ] -} +} \ No newline at end of file diff --git a/openarm_openarm_unimanual/.simready/validation.json b/openarm_openarm_unimanual/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..bc75ce3b43ab70760368c12c56235b79306f3b91 100644 --- a/openarm_openarm_unimanual/.simready/validation.json +++ b/openarm_openarm_unimanual/.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", + "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": 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5d49b905e6e518f811055b14283236db5412027f..22ee402dcf788f9d916d5d5d55ff42bfab7f8656 100644 --- a/openarm_openarm_unimanual/com.nvidia.simready.packaging.json +++ b/openarm_openarm_unimanual/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.openarm_openarm_unimanual.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.openarm_openarm_unimanual.3.0.0", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "c50857f22dee7d8fe9b1a12c87125a52a6d3a796acade36a3b49e8e9b33c81eb" + "sha256": "7b45e1994480bd7f46890ed5c361f09bec1df8fe42a51c5ee9bed5c5cfceb378" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "b9d18c1ff9a320397f5278057ded95b234b164276a11cd9bf3c60f8e42430c41" + "sha256": "792ff801284a15bc4e03be3060cc9d700d3be878b001f0540703864db3bc89a4" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "d77b4710be277c75671a7454260961555b8a18712559ec89944825acf7e626ce" + "sha256": "9d3102d800b391fba9685f0d0c89511f83847644d6189c93377a47a46f318263" }, "package_hash": { - "sha256": "d1ae9513abb50b8a59e937729e23fae6d0d570cf03729aa6003ca396a7bdc0db" + "sha256": "95eca851fd72e865520461edb202279c49033e4e418d0bca223fdec9b34bf029" } } diff --git a/openarm_openarm_unimanual/openarm_unimanual.usda b/openarm_openarm_unimanual/openarm_unimanual.usda index 80468903d294941eed5f62f0ab6235cdb6ec1434..d473866b271b3162d5237768e6cf4e11e8b93fcb 100644 --- a/openarm_openarm_unimanual/openarm_unimanual.usda +++ b/openarm_openarm_unimanual/openarm_unimanual.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 = 1 + string provider = "simready.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/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 = 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/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 = 1 + string provider = "simready.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/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/openarm_openarm_unimanual/payloads/materials.usda b/openarm_openarm_unimanual/payloads/materials.usda index 15a4d99be43a645fbe4a2cc5fd5e1e78dc2c5434..e8474ed2b7281b922d0ecdbc852908611d4ed61c 100644 --- a/openarm_openarm_unimanual/payloads/materials.usda +++ b/openarm_openarm_unimanual/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) @@ -667,7 +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:mtlx:surface.connect = token outputs:surface ( displayGroup = "Outputs" ) @@ -808,7 +808,7 @@ 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) @@ -826,7 +826,7 @@ 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" ) @@ -967,7 +967,7 @@ 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) @@ -988,7 +988,7 @@ 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" ) @@ -1129,7 +1129,7 @@ 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/openarm_openarm_unimanual/runnables/physics/physx.usda b/openarm_openarm_unimanual/runnables/physics/physx.usda index 0b14a09df15071dcc28e4aebace1bab599e5df61..0e1e301308ff8f8fc028b9a226873711f051976d 100644 --- a/openarm_openarm_unimanual/runnables/physics/physx.usda +++ b/openarm_openarm_unimanual/runnables/physics/physx.usda @@ -261,5 +261,10 @@ over "openarm" int physxArticulation:solverPositionIterationCount = 32 int physxArticulation:solverVelocityIterationCount = 1 } + + over "__fixed_base_joint" + { + bool physics:jointEnabled = 0 + } } diff --git a/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 33da414f181f3fdc47d2c6904e42271059abb1db..3c3df647bf939e88d2515a2a69b6893442db670d 100644 --- a/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/rethinkrobotics_sawyer_sawyer_instanceable/.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": "2026-10-26T18:20:32", + "timestamp": "2026-11-02T23:12:09", "assets": [ { "asset": "sawyer_instanceable.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": "73c44f3979c69ad4a6691e992d37fe0fd6401371e5d271fecf9193d3e5969877" + "sha256": "6316218b9d07527c224c58d76c36b66e5afd6ed38728935423cd08c93ff701e3" } } diff --git a/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..d1594dbc26c58cc003cb5dee78b821eb890338bb 100644 --- a/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/rethinkrobotics_sawyer_sawyer_instanceable/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:12:11", "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/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.packaging.bom.json b/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.packaging.bom.json index a5c27bd1aa7198e7487b427c237aa039778a7cf6..c57ab7a067ab9d0b6af87e8c5df35557d01eb473 100644 --- a/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.packaging.bom.json +++ b/rethinkrobotics_sawyer_sawyer_instanceable/.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/rethinkrobotics_sawyer_sawyer_instanceable/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/rethinkrobotics_sawyer_sawyer_instanceable/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7801, + "size": 49437, "hash": { - "sha256-flat-1mb": "d6f61a80d08beea6fdfbd56f2014e28c3feb7ce622b4c2f419165eb14226b93a", - "sha256": "ffb098ac293afacc3c52c5dbc22d87d7deefb2596bc1d8962e7a8ca82b8427cb" + "sha256-flat-1mb": 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"bf989f4b3373a44d5ffdbeda6083bb55dbd2d33bebcbc6baaed12c6a871cbf71" } }, { @@ -125,18 +117,18 @@ }, { "relative_path": "payloads/instances.usda", - "size": 65343, + "size": 65393, "hash": { - "sha256-flat-1mb": "3bb7ee1202860323979a2a86c113007140b66d9b5f7acccbcb416c2ac00a512a", - "sha256": "7f9aeaa3557319993812439b0b6b575b202e01e0289ae015968a5feeae643bc1" + "sha256-flat-1mb": "d8137e211f14e85edd9b1713d6aad846bf78b00370782491b96833940c764fca", + "sha256": "8e5791599dddf972203a68cac67d23b3c7cfa3cec857ff5e263d86fe9035bf26" } }, { "relative_path": "payloads/materials.usda", - "size": 72707, + "size": 83995, "hash": { - "sha256-flat-1mb": "c2cd542b7a06f27fcaa0f19be6493b0caff97e283d199e40c8b21b482250eff7", - "sha256": "589105455ed85f3e6e2dc7f13b5a99b5c5612b9c29e90117366b5bfacc3addc4" + "sha256-flat-1mb": "83717454bda7832a2ef08db4178ff3433a48861405dbc63a88de2ba5362a0e3c", + "sha256": "54c34c8e072f64c8a529a84482ef3931c25d2105d18ce7a89a3bf97d3a529a06" } }, { @@ -173,11 +165,11 @@ }, { "relative_path": "sawyer_instanceable.usda", - "size": 16968, + "size": 83333, "hash": { - "sha256-flat-1mb": "5350cc15e6848ce369cb258582780a76d11300a80d91e9aafcd0685781213646", - "sha256": "6478ec233d980bc0cd8661b7199f197a5f9952d6fbfa55fea481c95089f70af9" + "sha256-flat-1mb": "6b1a4ba3468c6afc7ebc5670c176abc35f368f1db921fcc144cf657094243b56", + "sha256": "8811473395c1d77d7c10a6505fcf39e713e946760d076ef8a229e7f9375731d5" } } ] -} +} \ No newline at end of file diff --git a/rethinkrobotics_sawyer_sawyer_instanceable/.simready/validation.json b/rethinkrobotics_sawyer_sawyer_instanceable/.simready/validation.json index bfcc4a903f7667da11f1ba3a68b3cd111d176fd4..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/rethinkrobotics_sawyer_sawyer_instanceable/.simready/validation.json +++ b/rethinkrobotics_sawyer_sawyer_instanceable/.simready/validation.json @@ -4,7 +4,7 @@ "profile": "Robot-Body", "profile_version": "3.0.0", "validated_features": { - "2026-10-20": { + "2026-10-30": { 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"display_name": "Simulate Multi-Body Physics (Robot Newton)", + "family": "FET004", + "runtime": "RobotNewton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + } + } + } } } } diff --git a/rethinkrobotics_sawyer_sawyer_instanceable/.thumbs/sawyer_instanceable.thumb.usd b/rethinkrobotics_sawyer_sawyer_instanceable/.thumbs/sawyer_instanceable.thumb.usd deleted file mode 100644 index 2fe2f6cde29202f8b809cc4c7c38e04e2df33623..0000000000000000000000000000000000000000 Binary files a/rethinkrobotics_sawyer_sawyer_instanceable/.thumbs/sawyer_instanceable.thumb.usd and /dev/null differ diff --git a/rethinkrobotics_sawyer_sawyer_instanceable/com.nvidia.simready.packaging.json b/rethinkrobotics_sawyer_sawyer_instanceable/com.nvidia.simready.packaging.json index 8c38387ed2a1487c667f9bb920e4e27716d41fc5..84a8308510cec363373857197aa4ee68394817bf 100644 --- a/rethinkrobotics_sawyer_sawyer_instanceable/com.nvidia.simready.packaging.json +++ b/rethinkrobotics_sawyer_sawyer_instanceable/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.rethinkrobotics_sawyer_sawyer_instanceable.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.rethinkrobotics_sawyer_sawyer_instanceable.3.0.0", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "0cfa287aabdeb04d9137de7f33cbc2e4bf7127aee74f80dcd147b349e0068547" + "sha256": "b29d0e34a751c601b417814b331a7b9626d9a12524b882c8e38e86e99174c9c3" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "66c16be3c1940ff05b5efbb42b81a8a921322f429cf0f9544326c4c2d2e93a1f" + "sha256": "01544a19bd4cf145e6de709e8214a85fd2f9ef8698c727cb4cfffe3a98abcf3f" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "52bfc60d1b67235ed32031827fe617658135af82915d844d3bf611b055eb2c86" + "sha256": "6316218b9d07527c224c58d76c36b66e5afd6ed38728935423cd08c93ff701e3" }, "package_hash": { - "sha256": "4b42ef95b72027ef7e2b4e0e1ffb9633b5346850065d6018c903cf309a6ab42f" + "sha256": "d0918dc6d88ae79f2b40d30c6b1c9a37bb259f960a044161000bfe9c5b70cd9d" } } diff --git a/rethinkrobotics_sawyer_sawyer_instanceable/payloads/base.usda b/rethinkrobotics_sawyer_sawyer_instanceable/payloads/base.usda index 8ca1dba3cee8d6c4adda78367ae9c96523da11ac..29468106ae3837cbe8e68fd5fea461f440701bdb 100644 --- a/rethinkrobotics_sawyer_sawyer_instanceable/payloads/base.usda +++ b/rethinkrobotics_sawyer_sawyer_instanceable/payloads/base.usda @@ -232,7 +232,7 @@ def Xform "sawyer" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } diff --git a/rethinkrobotics_sawyer_sawyer_instanceable/payloads/instances.usda b/rethinkrobotics_sawyer_sawyer_instanceable/payloads/instances.usda index 9af6b6decd798a3636931876e2a49e3fe16e2cb9..59889d3c3a42bfa9b4e6960e4c8361471fa937a7 100644 --- a/rethinkrobotics_sawyer_sawyer_instanceable/payloads/instances.usda +++ b/rethinkrobotics_sawyer_sawyer_instanceable/payloads/instances.usda @@ -58,7 +58,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -83,7 +83,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -177,7 +177,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -202,7 +202,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -227,7 +227,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -252,7 +252,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -277,7 +277,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -302,7 +302,7 @@ 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 } } @@ -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 } } @@ -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 } } @@ -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 } } @@ -645,7 +645,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -670,7 +670,7 @@ 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 } } @@ -860,7 +860,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -885,7 +885,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -910,7 +910,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -935,7 +935,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -960,7 +960,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1030,7 +1030,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1055,7 +1055,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1080,7 +1080,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1105,7 +1105,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1207,7 +1207,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1232,7 +1232,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1257,7 +1257,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1282,7 +1282,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1307,7 +1307,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1332,7 +1332,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1357,7 +1357,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1382,7 +1382,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1460,7 +1460,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1485,7 +1485,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1510,7 +1510,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1535,7 +1535,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1560,7 +1560,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1646,7 +1646,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1671,7 +1671,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1696,7 +1696,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1721,7 +1721,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1746,7 +1746,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1771,7 +1771,7 @@ 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/rethinkrobotics_sawyer_sawyer_instanceable/payloads/materials.usda b/rethinkrobotics_sawyer_sawyer_instanceable/payloads/materials.usda index 1ca0dec68c172880d0be5b0a3d5826f4c3aedc92..7ba672e3afa0694d988503fd6b967bbb1b21c692 100644 --- a/rethinkrobotics_sawyer_sawyer_instanceable/payloads/materials.usda +++ b/rethinkrobotics_sawyer_sawyer_instanceable/payloads/materials.usda @@ -22,6 +22,7 @@ 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" ) @@ -78,9 +79,18 @@ 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 "material_Mtl2" @@ -94,6 +104,7 @@ 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" ) @@ -150,9 +161,18 @@ 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 "material_Mtl3" @@ -166,6 +186,7 @@ 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" ) @@ -222,9 +243,18 @@ 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 "material_Mtl5" @@ -238,6 +268,7 @@ 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" ) @@ -294,9 +325,18 @@ 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 "material_Mtl6" @@ -310,6 +350,7 @@ 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" ) @@ -366,9 +407,18 @@ 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 "material_Mtl7" @@ -382,6 +432,7 @@ 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" ) @@ -438,9 +489,18 @@ 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 "material_Mtl1_1" @@ -454,6 +514,7 @@ 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" ) @@ -510,9 +571,18 @@ 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 "material_Mtl2_1" @@ -526,6 +596,7 @@ 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" ) @@ -582,9 +653,18 @@ 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 "material_Mtl4" @@ -598,6 +678,7 @@ 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" ) @@ -654,9 +735,18 @@ 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 "material_Mtl1_2" @@ -670,6 +760,7 @@ 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" ) @@ -726,9 +817,18 @@ 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 "material_Mtl2_2" @@ -742,6 +842,7 @@ 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" ) @@ -798,9 +899,18 @@ 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 "material_Mtl4_1" @@ -814,6 +924,7 @@ 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" ) @@ -894,9 +1005,18 @@ 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 "material_Mtl5_1" @@ -910,6 +1030,7 @@ 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" ) @@ -966,9 +1087,18 @@ 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 "material_Mtl6_1" @@ -982,6 +1112,7 @@ 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" ) @@ -1038,9 +1169,18 @@ 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 "material_Mtl7_1" @@ -1054,6 +1194,7 @@ 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" ) @@ -1110,9 +1251,18 @@ 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 "material_Mtl8" @@ -1126,6 +1276,7 @@ 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" ) @@ -1182,9 +1333,18 @@ 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 "material_Mtl9" @@ -1198,6 +1358,7 @@ 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" ) @@ -1254,9 +1415,18 @@ 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 "material_Mtla" @@ -1270,6 +1440,7 @@ 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" ) @@ -1326,9 +1497,18 @@ 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 "material_Mtlb" @@ -1342,6 +1522,7 @@ 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" ) @@ -1398,9 +1579,18 @@ 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 "material_Mtl3_1" @@ -1414,6 +1604,7 @@ 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" ) @@ -1470,9 +1661,18 @@ 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 "material_Mtl2_3" @@ -1486,6 +1686,7 @@ 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" ) @@ -1542,9 +1743,18 @@ 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 "material_Mtl3_2" @@ -1558,6 +1768,7 @@ 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" ) @@ -1614,9 +1825,18 @@ 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 "material_Mtl5_2" @@ -1630,6 +1850,7 @@ 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" ) @@ -1686,9 +1907,18 @@ 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 "material_Mtl3_3" @@ -1702,6 +1932,7 @@ 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" ) @@ -1758,9 +1989,18 @@ 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 "material_Mtl5_3" @@ -1774,6 +2014,7 @@ 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" ) @@ -1830,9 +2071,18 @@ 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 "material_Mtl6_2" @@ -1846,6 +2096,7 @@ 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" ) @@ -1902,9 +2153,18 @@ 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/rethinkrobotics_sawyer_sawyer_instanceable/sawyer_instanceable.usda b/rethinkrobotics_sawyer_sawyer_instanceable/sawyer_instanceable.usda index 3240e07381d6858360c6da511c74f19038a4f73b..129f44b5877de42c1cee52c87c8cedbd9fea5b59 100644 --- a/rethinkrobotics_sawyer_sawyer_instanceable/sawyer_instanceable.usda +++ b/rethinkrobotics_sawyer_sawyer_instanceable/sawyer_instanceable.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', 'com.nvidia.simready.VM.MDL.003']" - 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" = { @@ -277,6 +1225,10 @@ def Xform "sawyer" ( prepend variantSets = ["PhysX", "Newton", "MuJoCo"] ) { + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + over "right_arm_base_link" { over "collisions" @@ -391,6 +1343,8 @@ def Xform "sawyer" ( { def Material "Grey" { + token outputs:mdl:surface.connect = + token outputs:mtlx:surface.connect = token outputs:surface.connect = def Shader "PreviewSurface" @@ -402,6 +1356,24 @@ def Xform "sawyer" ( float inputs:roughness = 0.5 token outputs:surface } + + def Shader "simready_mdl_surfaceshader" + { + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @./materials/mdl/OmniPBR.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.5, 0.5, 0.5) + token outputs:out + } + + 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/robotstudio_so100/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/robotstudio_so100/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 0984b9a4a7a2793293dbbe29890b78b69bd95ac6..d70880cbf822ffe0e26ac102be24680fa0f8e3e4 100644 --- a/robotstudio_so100/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/robotstudio_so100/.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": "2026-10-26T18:20:37", + "timestamp": "2026-11-02T23:12:15", "assets": [ { "asset": "so100.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": "8f1774f77ae3e691946b58de44d96e3860926ffcf62ab08e1565a306d00d4002" + "sha256": "983f3a45189f24aa783e86fa2e2dc70e465427409ed61d99799deb3f28b0ec66" } } diff --git a/robotstudio_so100/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/robotstudio_so100/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..536dd9658a072587a5b43fb0ac915985ac62270d 100644 --- a/robotstudio_so100/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/robotstudio_so100/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:12:17", "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/robotstudio_so100/.metadata/com.nvidia.simready.packaging.bom.json b/robotstudio_so100/.metadata/com.nvidia.simready.packaging.bom.json index 8111864bf4428ac75043a0877d48f8a7f6fa3b80..62913cec7ca6b6d8f938c37be299d0d7eb90f596 100644 --- a/robotstudio_so100/.metadata/com.nvidia.simready.packaging.bom.json +++ b/robotstudio_so100/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,13 +1,13 @@ { "format_version": "1.0", - "content_root": 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}, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -173,10 +165,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 10384, + "size": 10408, "hash": { - "sha256-flat-1mb": "28ac02a943546da96e9d2d44b38e28faeec0c0fee43503dd5a721b8c38784ee5", - "sha256": "5dbef810e6524108967ffd885a456035c2b2dfccf39cae81b6484183984037bb" + "sha256-flat-1mb": "2c28ea9f1e244ee1c49bcf49263c85f2c70d10dda1fa8f400d24e1a67d1b059c", + "sha256": "8a73ce81280b722996d3d318c86327c6ea0cc9c1c32f4682863956d12663051c" } }, { @@ -286,11 +278,11 @@ }, { "relative_path": "so100.usda", - "size": 16052, + "size": 81598, "hash": { - "sha256-flat-1mb": "f2727db57c996589904c09c5454b6381033cfa50c752c305510f810c742ab5bf", - "sha256": "198b06125032d7bcf5e9e315e08bebcd254cbbb153542a9268814d1ad4b052bb" + "sha256-flat-1mb": "b4d2182bbf222b760ef80e22b1e842223d4bc95d6b321b19bcaf3df015b32433", + "sha256": "1e8f967c230b98600a029f65350952a71f730ab4a4486ab3415e03f6eda73a8d" } } ] -} +} \ No newline at end of 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"/.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/robotstudio_so100/.thumbs/so100.thumb.usd b/robotstudio_so100/.thumbs/so100.thumb.usd deleted file mode 100644 index d539b99b06f577379ca08bd58f30f6e1e67d6b94..0000000000000000000000000000000000000000 Binary files a/robotstudio_so100/.thumbs/so100.thumb.usd and /dev/null differ diff --git a/robotstudio_so100/com.nvidia.simready.packaging.json b/robotstudio_so100/com.nvidia.simready.packaging.json index 15e99d36ee5224dddbab8bdd9e86a5fd652aff80..c9a8f0920ebc937da1707c29b8162fdebd40de46 100644 --- a/robotstudio_so100/com.nvidia.simready.packaging.json +++ b/robotstudio_so100/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.robotstudio_so100.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.robotstudio_so100.3.0.0", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "048d13485bf0baef47a38e8fd68ab7e337b687e635078a11903b7f2d17334a30" + "sha256": "72e01996ad236c04d0aa9dbd6c5203543f1b13742735ea9ac65e83e3213a6ca5" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "907b8d9e97991da413bbe796e2d591baa48934cbddd8cf972404ea2c37d40a07" + "sha256": "0925ebc5b531d978d7d3e50f10e62d991c48b0a98b411f3be9795e9289f13f87" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "0055e40fd704ce3e5399bae34011bc202ef15222e50988b5a36ca6cf8a6a9a22" + "sha256": "983f3a45189f24aa783e86fa2e2dc70e465427409ed61d99799deb3f28b0ec66" }, "package_hash": { - "sha256": "245ba04ff932b5a59c64c999d6d4e4e751271b15b454176442a55afaf153d65d" + "sha256": "223eda47bf70db1562cf8cc3b5bfe5162fa06f63d340244d9e996866663d6711" } } diff --git a/robotstudio_so100/payloads/materials.usda b/robotstudio_so100/payloads/materials.usda index e2bbb90de8501c9cee196c1b814023026a915d3c..798e5c15e5684cfe530e4a515edf9afe435194ae 100644 --- a/robotstudio_so100/payloads/materials.usda +++ b/robotstudio_so100/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" ) @@ -218,7 +218,7 @@ 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) @@ -239,7 +239,7 @@ 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" ) @@ -276,7 +276,7 @@ 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/robotstudio_so100/so100.usda b/robotstudio_so100/so100.usda index 12e4c473629aa27c8751d762cd8ce0e5bb3d7b17..f4f1c52808da4b0c4c9c119f48f74bbc38501074 100644 --- a/robotstudio_so100/so100.usda +++ b/robotstudio_so100/so100.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/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 205c7175547a424ae783bb585b2279ab7d017c0f..d70be6b19a9c002881893a3d55cca8b04ba94a21 100644 --- a/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/robotstudio_so101_new_calib/.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": "2026-10-26T18:20:39", + "timestamp": "2026-11-02T23:12:18", "assets": [ { "asset": "so101_new_calib.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": "3d103a408f5ec91fd5998a651e1f6a36431041aad6e918d1c4d02894851e1c01" + "sha256": "6e078e8357532eafb30ef60eb53f3ac88b50c296ff05d1df7903db39128a459d" } } diff --git a/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..7c7ba87c9cb491d90c53d0e6340843d91d388736 100644 --- a/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/robotstudio_so101_new_calib/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:12:19", "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/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.packaging.bom.json b/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.packaging.bom.json index 171e9761fa831ab1a6729402f2453ca94e1382df..25ac6b113d821e8092d96ac21802f96993e334db 100644 --- a/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.packaging.bom.json +++ b/robotstudio_so101_new_calib/.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/robotstudio_so101_new_calib/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/robotstudio_so101_new_calib/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": "1971a86735cf1aee75d586988ef5130d1e3b1fa77155b905ac7b4e575bbfe44d" } }, - { - "relative_path": ".thumbs/so101_new_calib.thumb.usd", - "size": 6132, - "hash": { - "sha256-flat-1mb": "4a9c7e07c29c80fd3a77fac04ad659b85a5a07651f219a01caa074fdf59bd38b", - "sha256": "f803a817b62017bc9142998856649d33ea9f37684694e9e9a855f94899cc2fbb" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -173,10 +165,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 10384, + "size": 10408, "hash": { - "sha256-flat-1mb": "28ac02a943546da96e9d2d44b38e28faeec0c0fee43503dd5a721b8c38784ee5", - "sha256": "5dbef810e6524108967ffd885a456035c2b2dfccf39cae81b6484183984037bb" + "sha256-flat-1mb": "2c28ea9f1e244ee1c49bcf49263c85f2c70d10dda1fa8f400d24e1a67d1b059c", + "sha256": "8a73ce81280b722996d3d318c86327c6ea0cc9c1c32f4682863956d12663051c" } }, { @@ -262,11 +254,11 @@ }, { "relative_path": "so101_new_calib.usda", - "size": 16980, + "size": 82526, "hash": { - "sha256-flat-1mb": "be7e50f701bc63d2f38936f60b7807fd57407b8acf8d381a10a1f11f5e9b2238", - "sha256": "c2c0fcdb6667185876d00b9e35a85a8f07f580b2abda99b30a64c87836634d71" + "sha256-flat-1mb": "22403e5aa2b808ba6f44343a835101e74af164d7f59fe86d58e47b685f65fe45", + "sha256": "92dba7c58b8ec81af70c47e72625192000364c8ea4b42396a390cca33bb8f1eb" } } ] -} +} \ No newline at end of file diff --git a/robotstudio_so101_new_calib/.simready/validation.json b/robotstudio_so101_new_calib/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/robotstudio_so101_new_calib/.simready/validation.json +++ b/robotstudio_so101_new_calib/.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", + "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", + 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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/robotstudio_so101_new_calib/.thumbs/so101_new_calib.thumb.usd b/robotstudio_so101_new_calib/.thumbs/so101_new_calib.thumb.usd deleted file mode 100644 index 9ded61362aca7199d7d221a6e82913b81cfc6f36..0000000000000000000000000000000000000000 Binary files a/robotstudio_so101_new_calib/.thumbs/so101_new_calib.thumb.usd and /dev/null differ diff --git a/robotstudio_so101_new_calib/com.nvidia.simready.packaging.json b/robotstudio_so101_new_calib/com.nvidia.simready.packaging.json index 916a139c758aeae203d40138f5e931b9f0e25254..63eb508ac4336e01d6255a143ca2143a14f9c3ae 100644 --- a/robotstudio_so101_new_calib/com.nvidia.simready.packaging.json +++ b/robotstudio_so101_new_calib/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.robotstudio_so101_new_calib.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.robotstudio_so101_new_calib.3.0.0", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "38ebc3211b7af34cd44652f7b5c8038c0bd6e9bcbff04fa80e83cfc9a17232f1" + "sha256": "eb403eef23bf1e65d35f2f9d88000dd78b9e956fc12b1afde724cd76ea4f5a52" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "8bea42cd64a61673aba54fe15dcbb11d54f4d8ef7083c39b6121eada82d055c5" + "sha256": "2dec0345c5279d56c96ec400c4a23370d59222a07a12e778ef809c0d0f493878" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "5d9d28160a5e8e5a34f2957ed422953a45e55a2663378a839892bafc0ec9f42b" + "sha256": "6e078e8357532eafb30ef60eb53f3ac88b50c296ff05d1df7903db39128a459d" }, "package_hash": { - "sha256": "a3e77a765e227ba652c74b79a2590907bba038457358bdac1c4d6f659be55ca3" + "sha256": "42d51ed3a6535d35ba74b64bbd45f370b0c50518a2b105f7e920e074bf2c7d10" } } diff --git a/robotstudio_so101_new_calib/payloads/materials.usda b/robotstudio_so101_new_calib/payloads/materials.usda index e2bbb90de8501c9cee196c1b814023026a915d3c..798e5c15e5684cfe530e4a515edf9afe435194ae 100644 --- a/robotstudio_so101_new_calib/payloads/materials.usda +++ b/robotstudio_so101_new_calib/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" ) @@ -218,7 +218,7 @@ 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) @@ -239,7 +239,7 @@ 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" ) @@ -276,7 +276,7 @@ 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/robotstudio_so101_new_calib/so101_new_calib.usda b/robotstudio_so101_new_calib/so101_new_calib.usda index 0313df3e00158cd29b4cb9dbc30777c7d4e6ecb1..bb4c301be0df3e11906e9fc7609a7d1c03c1bc6d 100644 --- a/robotstudio_so101_new_calib/so101_new_calib.usda +++ b/robotstudio_so101_new_calib/so101_new_calib.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/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index dc13b95f343c12477ba3dc36804452c4e2c74ec7..f63d20db7e06dce00f98221c17a72a354ffa9218 100644 --- a/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/robotstudio_sysid_so101_new_calib/.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": "2026-10-26T18:20:35", + "timestamp": "2026-11-02T23:12:12", "assets": [ { "asset": "so101_new_calib.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": "1fddc173993888b1ef3e126dd090ade127be4c0e1b3fe29c6dc5bb6119a9143d" + "sha256": "11d11c2017dcf06aa9ab559aaaf87f95d4c7ef342b01603d5b96f10df2853ede" } } diff --git a/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..27171871964742542dc319c498bae33e11dcf265 100644 --- a/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/robotstudio_sysid_so101_new_calib/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:12:14", "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/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.packaging.bom.json b/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.packaging.bom.json index b23179bea7fa5843e779f298f5cef4838351674a..47c8eaf304043edb42ec29b9e5534206927613cd 100644 --- a/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.packaging.bom.json +++ b/robotstudio_sysid_so101_new_calib/.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/robotstudio_sysid_so101_new_calib/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/robotstudio_sysid_so101_new_calib/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": 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"display_name": "Simulate Multi-Body Physics (Robot Newton)", + "family": "FET004", + "runtime": "RobotNewton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + } + } + } } } } diff --git a/robotstudio_sysid_so101_new_calib/.thumbs/so101_new_calib.thumb.usd b/robotstudio_sysid_so101_new_calib/.thumbs/so101_new_calib.thumb.usd deleted file mode 100644 index 84d9ba9dfa52a1182c8715b31aef9ac4e1863007..0000000000000000000000000000000000000000 Binary files a/robotstudio_sysid_so101_new_calib/.thumbs/so101_new_calib.thumb.usd and /dev/null differ diff --git a/robotstudio_sysid_so101_new_calib/com.nvidia.simready.packaging.json b/robotstudio_sysid_so101_new_calib/com.nvidia.simready.packaging.json index fb44d67edcac83e5d3304e6a60332b7480465219..a9a6d5a7fad77d13db5e273e63002006f4f95d67 100644 --- a/robotstudio_sysid_so101_new_calib/com.nvidia.simready.packaging.json +++ b/robotstudio_sysid_so101_new_calib/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.robotstudio_sysid_so101_new_calib.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.robotstudio_sysid_so101_new_calib.3.0.0", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "fe2eb06c4e45bf404fba202647d22d76f7cdb57d81f62d6c5a1645ec7e6e87a5" + "sha256": "69115d26fe20b057a950a97c42eb4fc49964beca18d5407f47f3813bb78df32f" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "9d4f00062ef303043517f49e6e0f3d45ec3ac67de77a36efd9971a592f9decc6" + "sha256": "f47429913b6fc057eb8b3d10d97334453168a6d7d95350636c5fbbf1edf8a0c0" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "3695ffce38a89e386b46b12659b2693af3e6589affe63d31478e16a58f9f879b" + "sha256": "11d11c2017dcf06aa9ab559aaaf87f95d4c7ef342b01603d5b96f10df2853ede" }, "package_hash": { - "sha256": "061d84cdaed3aa6b8bdeaaa8e533797d25df2968866df33fb5d6a44d18911c0a" + "sha256": "f47bd8f28a961ec9ad84e02ebaef0559539b66c0173dd2e585d8c3729ad7b5c2" } } diff --git a/robotstudio_sysid_so101_new_calib/payloads/base.usda b/robotstudio_sysid_so101_new_calib/payloads/base.usda index b5faa90b22078f51145b64e879f9d80d4cf4426b..2beda4b58c8a146bae2b257381d3115d75464641 100644 --- a/robotstudio_sysid_so101_new_calib/payloads/base.usda +++ b/robotstudio_sysid_so101_new_calib/payloads/base.usda @@ -685,7 +685,6 @@ def Xform "so101_new_calib" double3 xformOp:translate = (0.08926332157, 2.071118385e-9, -0.01510555846) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] } - } } } @@ -866,7 +865,7 @@ def Xform "so101_new_calib" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -891,7 +890,7 @@ def Xform "so101_new_calib" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } diff --git a/robotstudio_sysid_so101_new_calib/payloads/instances.usda b/robotstudio_sysid_so101_new_calib/payloads/instances.usda index de41a4aa8ddd3d2be449c90ad75ab6437cd475d6..f799f6e43b95e253ca8de7d5ae15950c09ce8191 100644 --- a/robotstudio_sysid_so101_new_calib/payloads/instances.usda +++ b/robotstudio_sysid_so101_new_calib/payloads/instances.usda @@ -42,7 +42,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -84,7 +84,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -125,7 +125,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -167,7 +167,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -208,7 +208,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -250,7 +250,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -291,7 +291,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -333,7 +333,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -374,7 +374,7 @@ 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 } } @@ -457,7 +457,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -499,7 +499,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -540,7 +540,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -582,7 +582,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -623,7 +623,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -665,7 +665,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -706,7 +706,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -748,7 +748,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -789,7 +789,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -831,7 +831,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -872,7 +872,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -914,7 +914,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -955,7 +955,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -997,7 +997,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1038,7 +1038,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1080,7 +1080,7 @@ 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/robotstudio_sysid_so101_new_calib/payloads/materials.usda b/robotstudio_sysid_so101_new_calib/payloads/materials.usda index 4e8efe3d6a2fd464c592e22e34fd42cfe616d74b..798e5c15e5684cfe530e4a515edf9afe435194ae 100644 --- a/robotstudio_sysid_so101_new_calib/payloads/materials.usda +++ b/robotstudio_sysid_so101_new_calib/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 "material_a_d_printed" @@ -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" ) @@ -203,9 +214,18 @@ 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 "material_sts3215" @@ -219,6 +239,7 @@ 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" ) @@ -251,9 +272,18 @@ 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/robotstudio_sysid_so101_new_calib/so101_new_calib.usda b/robotstudio_sysid_so101_new_calib/so101_new_calib.usda index fab4a92488d3be3a5edee9ef45a37783086a5e95..18e605eea57662b794494805848cd66dce488cd0 100644 --- a/robotstudio_sysid_so101_new_calib/so101_new_calib.usda +++ b/robotstudio_sysid_so101_new_calib/so101_new_calib.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 "so101_new_calib" ( variantSets = ["Robot", "Sensor", "PhysX", "Newton", "MuJoCo"] ) { + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + over "base" { over "collisions" diff --git a/techman_tm12/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/techman_tm12/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 4db1b964fbb911f7b487e403afe32a9e0bd7a1ca..07f40309a087b3b12133ded1c414c4bf5ec22cfe 100644 --- a/techman_tm12/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/techman_tm12/.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": "2026-10-26T18:20:42", + "timestamp": "2026-11-02T23:12:20", "assets": [ { "asset": "tm12.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": "466bf1a6ad8168264365af6d7443e3e43b5c02c87f208ddbb90b0bd4b62e9ae9" + "sha256": "efe7f0f42e0270f2ac466e719a03de32b775fd0aee53918266f9024722725949" } } diff --git a/techman_tm12/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/techman_tm12/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..fac177ba549d913fcad14473172ef376ea430e98 100644 --- a/techman_tm12/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/techman_tm12/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:12:22", "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/techman_tm12/.metadata/com.nvidia.simready.packaging.bom.json b/techman_tm12/.metadata/com.nvidia.simready.packaging.bom.json index 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"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/techman_tm12/.thumbs/tm12.thumb.usd b/techman_tm12/.thumbs/tm12.thumb.usd deleted file mode 100644 index 864f4b1a1defc61d96e761a83bc5926a9909df83..0000000000000000000000000000000000000000 Binary files a/techman_tm12/.thumbs/tm12.thumb.usd and /dev/null differ diff --git a/techman_tm12/com.nvidia.simready.packaging.json b/techman_tm12/com.nvidia.simready.packaging.json index b00ae390334ab54a465b3937d84391ae40774359..d9b2a44945ca5f13f942c64f4c5afd152f7dbd90 100644 --- a/techman_tm12/com.nvidia.simready.packaging.json +++ b/techman_tm12/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.techman_tm12.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.techman_tm12.3.0.0", "license": "unknown", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "3c10a3aaeead74d4efb45ad29ed73d5a9d5ec179f44ebf4fbc16363f31d1f00c" + "sha256": "a01410e2841f474bb6f7f7c0ca4e5b30883c1ffbf5dd0a2ab3d7b256bf1973c2" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "ed66fc428c6ae6549f94fed971b504383f2e598ad1474ca872a7042767235543" + "sha256": "a0528179b36af81b1a9cf6ae3c8c41dd3adfd97bbb8260392bb9784b3006716e" } }, { @@ -23,9 +23,9 @@ } ], "content_hash": { - "sha256": "dbf17be349cbc004e6ed55a0e4382b4961e16924f9e2548190da63f513d4431a" + "sha256": "efe7f0f42e0270f2ac466e719a03de32b775fd0aee53918266f9024722725949" }, "package_hash": { - "sha256": "91a331e36026905b3426cbb4e2ab0c9ec126272df55853ec023e9dd018fef1c6" + "sha256": "24ca2df428733f4221e408902c3184671ba555ff9ddf330fd970afd838d83f48" } -} +} \ No newline at end of file diff --git a/techman_tm12/payloads/materials.usda b/techman_tm12/payloads/materials.usda index 36a0042e67b86edbe4960845743f6e30a5df9938..094d22de4777f3b45acdea4876ba7236a7ba9734 100644 --- a/techman_tm12/payloads/materials.usda +++ b/techman_tm12/payloads/materials.usda @@ -22,7 +22,7 @@ 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" ) @@ -61,7 +61,7 @@ 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) @@ -82,7 +82,7 @@ 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" ) @@ -121,7 +121,7 @@ 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) @@ -142,7 +142,7 @@ 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" ) @@ -181,7 +181,7 @@ 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) @@ -202,7 +202,7 @@ 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" ) @@ -241,7 +241,7 @@ 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) @@ -262,7 +262,7 @@ 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" ) @@ -301,7 +301,7 @@ 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) @@ -322,7 +322,7 @@ 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" ) @@ -361,7 +361,7 @@ 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) @@ -382,7 +382,7 @@ 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" ) @@ -421,7 +421,7 @@ 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) @@ -442,7 +442,7 @@ 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" ) @@ -481,7 +481,7 @@ 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) @@ -502,7 +502,7 @@ 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" ) @@ -541,7 +541,7 @@ 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) @@ -562,7 +562,7 @@ 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" ) @@ -601,7 +601,7 @@ 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) @@ -622,7 +622,7 @@ 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" ) @@ -661,7 +661,7 @@ 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) @@ -682,7 +682,7 @@ 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" ) @@ -721,7 +721,7 @@ 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) @@ -742,7 +742,7 @@ 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" ) @@ -781,7 +781,7 @@ 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) @@ -802,7 +802,7 @@ 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" ) @@ -841,7 +841,7 @@ 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) @@ -862,7 +862,7 @@ 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" ) @@ -901,7 +901,7 @@ 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/techman_tm12/tm12.usda b/techman_tm12/tm12.usda index 9b47082520f132c9666460a31aaa9c1e47360a5d..89bbc5fc5f1dc22d68181be7d7b6faab6a60564c 100644 --- a/techman_tm12/tm12.usda +++ b/techman_tm12/tm12.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/ufactory_lite6/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/ufactory_lite6/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 2b0b8f1eb1b96d7d4f7844fcbdd89100bb4735af..c3be2b3ae3dd1c27af0900aebc96adec8333559d 100644 --- a/ufactory_lite6/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/ufactory_lite6/.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": "2026-10-26T18:20:44", + "timestamp": "2026-11-02T23:12:23", "assets": [ { "asset": "lite6.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": "8fe8b9eff0a401944e475dff6505267b045bbb14385ac561930a9328a35058e4" + "sha256": "d14e9312076b26dfffc18be3ea2a8fb49da6723eae94344d53e3c2e11983e6e8" } } diff --git a/ufactory_lite6/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/ufactory_lite6/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..b88f9ca89947e8e9abf212c5e285205123977ec1 100644 --- a/ufactory_lite6/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/ufactory_lite6/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:12:25", "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/ufactory_lite6/.metadata/com.nvidia.simready.packaging.bom.json b/ufactory_lite6/.metadata/com.nvidia.simready.packaging.bom.json index 64d209777aa8ab8023ed07bdd84349b8173b0e86..35a1e7d502115f90141a4fbccf285a3ef5b1d624 100644 --- a/ufactory_lite6/.metadata/com.nvidia.simready.packaging.bom.json +++ b/ufactory_lite6/.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/ufactory_lite6/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/ufactory_lite6/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49437, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "60678caf466441b20cc980d25651ae4cad35d680a6cb335ac019829b84246b9b", + "sha256": "06dfaae702000e6d9fc552d2267886882dc632a5aa12cb665f7cb8291bae4e31" } }, { @@ -18,20 +18,12 @@ "sha256": "9ee91bd7b6dac6bd645217fc5e6509a39328f5c70cb4594043ab017494612f76" } }, - { - "relative_path": ".thumbs/lite6.thumb.usd", - "size": 6122, - "hash": { - "sha256-flat-1mb": "2fe227c6d018e2f4401520a72657a9867bdf62d881543fbeeca6bafc6b37a0da", - "sha256": "adf5705dc633d5cd8382d026b3d93266c268a322be33d9f5e8358af57f883d3c" - } - }, { "relative_path": "lite6.usda", - "size": 17082, + "size": 82628, "hash": { - "sha256-flat-1mb": "04779777bfc6f20588afb2bf0fa9e5c5f602163b0bffa10d72d4acf7f88067ea", - "sha256": "75a30baa33181182cd452073e637099993174c066239730a05a1b4b0b7386229" + "sha256-flat-1mb": "87a3487d1870aaa573918f314184ad6ea7b2da455472918fb8ef3702e318e8fa", + "sha256": "086b670c5a39114b6169fe710e66e0c4c5ce1891d2531bf953dc60571eee77a2" } }, { @@ -108,10 +100,10 @@ }, { "relative_path": "payloads/Physics/physics.usda", - "size": 13221, + "size": 13156, "hash": { - "sha256-flat-1mb": "37f4d096b33b49bf731f09655d8b87172c1ca017816e18e3851a0b227eab6deb", - "sha256": "00a68725d34a9032557b7fce1eafa21a591ad70066b9ffc94aa1f76bb151a25f" + "sha256-flat-1mb": "29519b14b6bb2b0c27c5ce6ac88db93698bf6b3e5c19b28aa99b914145f643c3", + "sha256": "7b653575020dd8de90b1ca96ec4958d7026c2982098e676868663620bb9c2fd5" } }, { @@ -221,18 +213,18 @@ }, { "relative_path": "payloads/materials.usda", - "size": 20135, + "size": 20183, "hash": { - "sha256-flat-1mb": "505b07f0f8173b2c04745d3111848889c1c1169bc82ebd496d67782657689fb0", - "sha256": "1ba0db8ee93ce852782b19ebf027685caabf20ea337ea419366ab81f117564e9" + "sha256-flat-1mb": "f652628dc6c486e7b4b1ac8779a14e983cec2f7aa562a6da936a80c0d89f629c", + "sha256": "4ca13309ba3cd1be60926f818f17126b9b8fd81e024f178394b2ee43c506b178" } }, { "relative_path": "payloads/robot.usda", - "size": 6188, + "size": 6180, "hash": { - "sha256-flat-1mb": "adb272a6c5e537f0296c0c8aa16b1ce1978e0b48643deeb145133ad2c4cc2012", - "sha256": "1083dcc99bfa04dbb25d76d92ab3d43aca34f0f6b87dad38054823d56754bbfb" + "sha256-flat-1mb": "c49821ba94c9030b5af6bacc3f0e5bea224ea285769747665f0021ca3ff8440c", + "sha256": "fef359da937dc9514c159b9b9fa5859bc73b32ec01f86b08eb5ca0db63227133" } }, { @@ -253,11 +245,11 @@ }, { "relative_path": "runnables/physics/physx.usda", - "size": 6349, + "size": 6040, "hash": { - "sha256-flat-1mb": "e8666cdf1682ab77004904add7960addad88969d2e5b5a50a4f894c5c85c8969", - "sha256": "eae72c30363d1729ae94218ee5d9b8809bd9d436f00b92637d083528a40cb13c" + "sha256-flat-1mb": "e3657c5427185211e64118a0fb9c1b379241c05dd5481204c3dcdfc3e1c38191", + "sha256": "e647dcbb3ae9b0e97efae0f37c83f894bdf7a02bce3d6486b0230d8d9d44633d" } } ] -} +} \ No newline at end of file diff --git a/ufactory_lite6/.simready/validation.json b/ufactory_lite6/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/ufactory_lite6/.simready/validation.json +++ b/ufactory_lite6/.simready/validation.json @@ -4,7 +4,7 @@ "profile": "Robot-Body", "profile_version": 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"/.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/ufactory_lite6/.thumbs/lite6.thumb.usd b/ufactory_lite6/.thumbs/lite6.thumb.usd deleted file mode 100644 index e0fa85f2bd9476d1eafe0133bc7b0711846f48b0..0000000000000000000000000000000000000000 Binary files a/ufactory_lite6/.thumbs/lite6.thumb.usd and /dev/null differ diff --git a/ufactory_lite6/com.nvidia.simready.packaging.json b/ufactory_lite6/com.nvidia.simready.packaging.json index a21b9c2adbdf50d12a9547af6d38ad2b828f3406..673fd0c4e1852484a5e98a5d8798ab6260d6f033 100644 --- a/ufactory_lite6/com.nvidia.simready.packaging.json +++ b/ufactory_lite6/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.ufactory_lite6.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.ufactory_lite6.3.0.0", "license": "unknown", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "5dcb43e7d42799cf1509795c74929f8d248d6626314ca1a18043318b43b199f5" + "sha256": "9fd57792a29e35e3640017b9efbdd1a48f8205e9e0d5a73a04ae79148a2dff0a" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "db6f459264e623183c5c9fca6cb44d5c57605c88dcbf1767522e5e9f231c4ced" + "sha256": "b87077243aa71e223e4a34fb9e8614820bc4a5b05badf62718cf1fc7fdd1ad7d" } }, { @@ -23,9 +23,9 @@ } ], "content_hash": { - "sha256": "468be807793e865f60d1e04e32631182b518d3c62c93e7a37991881bafc6b566" + "sha256": "d14e9312076b26dfffc18be3ea2a8fb49da6723eae94344d53e3c2e11983e6e8" }, "package_hash": { - "sha256": "122dbc0fd25a08ceac67a6f45b57dad101c4a85f5a66ede2527bcc466086778f" + "sha256": "2b086c5994801891a9325a374add6104c2c4994ed3a0958bc435fb6efd8da299" } -} +} \ No newline at end of file diff --git a/ufactory_lite6/lite6.usda b/ufactory_lite6/lite6.usda index 53c513c94c32c97cc4c118b49c172f933cce525b..7c81dd781f46e4e2eedebf3f03598af50fdabc06 100644 --- a/ufactory_lite6/lite6.usda +++ b/ufactory_lite6/lite6.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/ufactory_lite6/payloads/Physics/physics.usda b/ufactory_lite6/payloads/Physics/physics.usda index a5ec90dc9114f8d9f1090eab6d1e4599a7f654ed..eb584122976af008d1de132d4ecf0c127974b285 100644 --- a/ufactory_lite6/payloads/Physics/physics.usda +++ b/ufactory_lite6/payloads/Physics/physics.usda @@ -112,7 +112,7 @@ over "UF_ROBOT" float drive:angular:physics:damping = 0.00041027882 float drive:angular:physics:maxForce = 32 float drive:angular:physics:stiffness = 1.025697 - float drive:angular:physics:targetPosition = -43.7 + float drive:angular:physics:targetPosition = 0 uniform token drive:angular:physics:type = "force" uniform token physics:axis = "Z" custom rel physics:body0 = @@ -122,10 +122,10 @@ over "UF_ROBOT" float physics:JointEquivalentInertia = 0.0016411153 point3f physics:localPos0 = (0, 0, 0) point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.7020576, 0.70206, -0.08434166, 0.08434134) + quatf physics:localRot0 = (0.6830127, 0.68301505, 0.18300857, -0.18300797) quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -123.99952 - float physics:upperLimit = 123.99952 + float physics:lowerLimit = -80.299515 + float physics:upperLimit = 167.69952 } def PhysicsRevoluteJoint "joint6" ( @@ -135,7 +135,7 @@ over "UF_ROBOT" float drive:angular:physics:damping = 0.00016746689 float drive:angular:physics:maxForce = 20 float drive:angular:physics:stiffness = 0.41866723 - float drive:angular:physics:targetPosition = -107.1 + float drive:angular:physics:targetPosition = 0 uniform token drive:angular:physics:type = "force" uniform token physics:axis = "Z" custom rel physics:body0 = @@ -145,10 +145,10 @@ over "UF_ROBOT" float physics:JointEquivalentInertia = 0.00066986756 point3f physics:localPos0 = (0, 0.0625, 0) point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.7071055, -0.7071081, 0, 0) + quatf physics:localRot0 = (-0.42010602, 0.42010787, 0.56878054, 0.56877846) quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 + float physics:lowerLimit = -252.9 + float physics:upperLimit = 467.1 } } @@ -164,8 +164,7 @@ over "UF_ROBOT" rel physics:simulationOwner vector3f physics:velocity = (0, 0, 0) - over "collisions" ( - ) + over "collisions" { rel physics:simulationOwner @@ -192,8 +191,7 @@ over "UF_ROBOT" rel physics:simulationOwner vector3f physics:velocity = (-0.000002896572, -2.4857313e-8, 6.803013e-13) - over "collisions" ( - ) + over "collisions" { rel physics:simulationOwner @@ -220,8 +218,7 @@ over "UF_ROBOT" rel physics:simulationOwner vector3f physics:velocity = (-0.000001807959, 2.7090816e-11, -8.0081506e-12) - over "collisions" ( - ) + over "collisions" { rel physics:simulationOwner @@ -248,8 +245,7 @@ over "UF_ROBOT" rel physics:simulationOwner vector3f physics:velocity = (9.701785e-7, 0.0000049714963, -0.0000029215953) - over "collisions" ( - ) + over "collisions" { rel physics:simulationOwner @@ -276,8 +272,7 @@ over "UF_ROBOT" rel physics:simulationOwner vector3f physics:velocity = (-0.000014889129, 0.0000052041714, -0.0000034489885) - over "collisions" ( - ) + over "collisions" { rel physics:simulationOwner @@ -304,8 +299,7 @@ over "UF_ROBOT" rel physics:simulationOwner vector3f physics:velocity = (0.000020635745, 0.000008014293, 0.000012719271) - over "collisions" ( - ) + over "collisions" { rel physics:simulationOwner @@ -332,8 +326,7 @@ over "UF_ROBOT" rel physics:simulationOwner vector3f physics:velocity = (0.00014348589, 0.000016662809, 0.00007611204) - over "collisions" ( - ) + over "collisions" { rel physics:simulationOwner @@ -355,3 +348,4 @@ over "UF_ROBOT" rel physics:body1 = } } + diff --git a/ufactory_lite6/payloads/materials.usda b/ufactory_lite6/payloads/materials.usda index 2039a055c8d1248c5ce98f555bc4d7302c2c5c72..6e788fd6f215ed31315368275baff55294061999 100644 --- a/ufactory_lite6/payloads/materials.usda +++ b/ufactory_lite6/payloads/materials.usda @@ -18,7 +18,7 @@ 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" ) @@ -55,7 +55,7 @@ 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) @@ -73,7 +73,7 @@ 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" ) @@ -110,7 +110,7 @@ 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) @@ -131,7 +131,7 @@ 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" ) @@ -168,7 +168,7 @@ 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) @@ -189,7 +189,7 @@ 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" ) @@ -226,7 +226,7 @@ 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) @@ -244,7 +244,7 @@ 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" ) @@ -385,7 +385,7 @@ 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) @@ -406,7 +406,7 @@ 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" ) @@ -547,7 +547,7 @@ 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/ufactory_lite6/payloads/robot.usda b/ufactory_lite6/payloads/robot.usda index 177e8f53d8d04f9b2eb5c5c4f04730551e0eb0aa..5c53792d5de53713cc7e266f216d0358e3d8c26e 100644 --- a/ufactory_lite6/payloads/robot.usda +++ b/ufactory_lite6/payloads/robot.usda @@ -103,7 +103,6 @@ over "UF_ROBOT" ( prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] ) { - float state:angular:physics:position = -43.7 custom string isaac:nameOverride float[] isaac:physics:AccelerationLimit float[] isaac:physics:JerkLimit @@ -113,13 +112,13 @@ over "UF_ROBOT" ( custom int isaac:physics:Tr_X:DofOffset custom int isaac:physics:Tr_Y:DofOffset custom int isaac:physics:Tr_Z:DofOffset + float state:angular:physics:position = 0 } over "joint6" ( prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] ) { - float state:angular:physics:position = -107.1 custom string isaac:nameOverride float[] isaac:physics:AccelerationLimit float[] isaac:physics:JerkLimit @@ -129,6 +128,7 @@ over "UF_ROBOT" ( custom int isaac:physics:Tr_X:DofOffset custom int isaac:physics:Tr_Y:DofOffset custom int isaac:physics:Tr_Z:DofOffset + float state:angular:physics:position = 0 } } @@ -208,3 +208,4 @@ over "UF_ROBOT" ( custom int isaac:physics:Tr_Z:DofOffset } } + diff --git a/ufactory_lite6/runnables/physics/physx.usda b/ufactory_lite6/runnables/physics/physx.usda index 483585f92d35ed163dc49b0bec16769e79997d66..a1110aa34ff5c397952ade8a1f5abd0d87367891 100644 --- a/ufactory_lite6/runnables/physics/physx.usda +++ b/ufactory_lite6/runnables/physics/physx.usda @@ -61,7 +61,7 @@ over "UF_ROBOT" ( { float physxJoint:jointFriction = 1 float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = -29.99927 + float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 } @@ -71,22 +71,20 @@ over "UF_ROBOT" ( { float physxJoint:jointFriction = 1 float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = -107.10002 + float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 } } over "world" { - over "collisions" ( - ) + over "collisions" { rel collection:collisionmeshes:includes = over "link_base" { - over "mesh_1" ( - ) + over "mesh_1" { uniform token physics:approximation = "convexHull" } @@ -96,15 +94,13 @@ over "UF_ROBOT" ( over "link1" { - over "collisions" ( - ) + over "collisions" { rel collection:collisionmeshes:includes = over "link1" { - over "mesh_3" ( - ) + over "mesh_3" { uniform token physics:approximation = "convexHull" } @@ -114,15 +110,13 @@ over "UF_ROBOT" ( over "link2" { - over "collisions" ( - ) + over "collisions" { rel collection:collisionmeshes:includes = over "link2" { - over "mesh_5" ( - ) + over "mesh_5" { uniform token physics:approximation = "convexHull" } @@ -132,15 +126,13 @@ over "UF_ROBOT" ( over "link3" { - over "collisions" ( - ) + over "collisions" { rel collection:collisionmeshes:includes = over "link3" { - over "mesh_7" ( - ) + over "mesh_7" { uniform token physics:approximation = "convexHull" } @@ -150,15 +142,13 @@ over "UF_ROBOT" ( over "link4" { - over "collisions" ( - ) + over "collisions" { rel collection:collisionmeshes:includes = over "link4" { - over "mesh_9" ( - ) + over "mesh_9" { uniform token physics:approximation = "convexHull" } @@ -168,15 +158,13 @@ over "UF_ROBOT" ( over "link5" { - over "collisions" ( - ) + over "collisions" { rel collection:collisionmeshes:includes = over "link5" { - over "mesh_11" ( - ) + over "mesh_11" { uniform token physics:approximation = "convexHull" } @@ -186,15 +174,13 @@ over "UF_ROBOT" ( over "link6" { - over "collisions" ( - ) + over "collisions" { rel collection:collisionmeshes:includes = over "link6" { - over "mesh_13" ( - ) + over "mesh_13" { uniform token physics:approximation = "convexHull" } @@ -212,35 +198,32 @@ over "UF_ROBOT" ( int physxArticulation:solverVelocityIterationCount = 1 float physxArticulation:stabilizationThreshold = 0.00001 } - variantSet "Variant_Set" = { "lite_gripper" { over "gripper" { over "joints" { - over "finger_joint1" ( - ) + over "finger_joint1" { float state:linear:physics:position = 0.0049634674 float state:linear:physics:velocity = 0 } - over "finger_joint2" ( - ) + over "finger_joint2" { float state:linear:physics:position = 0.005660153 float state:linear:physics:velocity = 0 } } - over "root_joint" ( - ) + over "root_joint" { bool physxArticulation:articulationEnabled = 0 } } + } } - } + diff --git a/ufactory_uf850/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/ufactory_uf850/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 07edeebdb2f4ee3bcba666e5b1ed391efd15bd04..fda7ac570bdba1d12a504da57744ec1579bde519 100644 --- a/ufactory_uf850/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/ufactory_uf850/.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": "2026-10-26T18:20:46", + "timestamp": "2026-11-02T23:12:26", "assets": [ { "asset": "uf850.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": "f5309f95882942369d1c9e5883a6a532f2ba9da003bdf3c4a2d5de7c6eea98f6" + "sha256": "26a7c208eb3c0b5b95f7dc0386281490e3844a22e943e95e39970656b447f348" } } diff --git a/ufactory_uf850/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/ufactory_uf850/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..b0737b3ac74091ad655282d3126fb2e89538b7a6 100644 --- a/ufactory_uf850/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/ufactory_uf850/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:12:28", "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/ufactory_uf850/.metadata/com.nvidia.simready.packaging.bom.json b/ufactory_uf850/.metadata/com.nvidia.simready.packaging.bom.json index fb38ca6131c060d2d42991956861bded5b75cf15..7f97b4db081801f287254b3c4d4af651209bc8f8 100644 --- a/ufactory_uf850/.metadata/com.nvidia.simready.packaging.bom.json +++ b/ufactory_uf850/.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/ufactory_uf850/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/ufactory_uf850/3.0.0", "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": "7b9bf2090340fa9599c496d73acd4486796d088a446560c6761cc67340d3f5f5" } }, - { - "relative_path": ".thumbs/uf850.thumb.usd", - "size": 6122, - "hash": { - "sha256-flat-1mb": "d5d8d3586138f2339ce7c242cc87482cb6c225bd5b274bdbe7965042f4cd57cd", - "sha256": "32742ec7dec2524660eb7e155bb3f06571c6fc2bfdbe846cc5ab50b487c3a27d" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -214,10 +206,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 19891, + "size": 19939, "hash": { - "sha256-flat-1mb": "6e6949d78c73dc2cdd132e3412a314ef70ca5d01651189349665f1ab4671a393", - "sha256": "7e5cf3ee796a5dbc1d62c8cfba86ebaed067df1822aae02fb611f006bca9f236" + "sha256-flat-1mb": "80f2b16a2a239bb4809f5c9b8dfbce569badff3c7e09930b782ac93bb26eb371", + "sha256": "5510e0944d9b8c9bd79645b28130a33fadc0ea7628fe0acbb960c4474d603e2b" } }, { @@ -254,11 +246,11 @@ }, { "relative_path": "uf850.usda", - "size": 17060, + "size": 82606, "hash": { - "sha256-flat-1mb": "7ae4842e3fdd91b785f48db707836e3662751785d6665e12f9b9509bb3d88aea", - "sha256": "af1ed042b4a04b270f7a5715c11a5d640dde406dd38f358e09517fada2d4b645" + "sha256-flat-1mb": "989513b8b510bd6a296b0e3e880b1fd4f99c40006ee101452e12d42c99d68ae7", + "sha256": "f732de08ff42c5c8ece73fe411f94512bbccaf318c063cb7a821de540ae2c376" } } ] -} +} \ No newline at end of file diff --git a/ufactory_uf850/.simready/validation.json b/ufactory_uf850/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/ufactory_uf850/.simready/validation.json +++ b/ufactory_uf850/.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": 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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/ufactory_uf850/.thumbs/uf850.thumb.usd b/ufactory_uf850/.thumbs/uf850.thumb.usd deleted file mode 100644 index cf0608273278338f17adb9100750974accf0d1c6..0000000000000000000000000000000000000000 Binary files a/ufactory_uf850/.thumbs/uf850.thumb.usd and /dev/null differ diff --git a/ufactory_uf850/com.nvidia.simready.packaging.json b/ufactory_uf850/com.nvidia.simready.packaging.json index aa2809159c8cafee6a1e0156ffebe601c303889f..aaed8b9621679b26060f0ac72df97b6f7d8db65b 100644 --- a/ufactory_uf850/com.nvidia.simready.packaging.json +++ b/ufactory_uf850/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.ufactory_uf850.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.ufactory_uf850.3.0.0", "license": "unknown", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "cfbdfc9c0f795242fcb8310eed6520b054da0ff4b36c85f88c63a4467fdec01f" + "sha256": "7d2757f635c8cef52c60358958598bc5644aa0ab78c39048deebb30474756d00" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "1ae515111f52354b3eb0f752f68b86773e9e3775ad6c63fd32002952dd24173d" + "sha256": "4d3c8001e632e698ffb24fc6d913d91e3e058404e34556657ffee03be2eb2cfd" } }, { @@ -23,9 +23,9 @@ } ], "content_hash": { - "sha256": "b48fd0c4931a57861efa4c99c008a6de5ffc66adc33b504f0ba46e0f6eb8b36e" + "sha256": "26a7c208eb3c0b5b95f7dc0386281490e3844a22e943e95e39970656b447f348" }, "package_hash": { - "sha256": "69a83745ae92f22f8da6d9fb29233a92e3ffacab0f019b390c27b0b08be8b9bd" + "sha256": "27e0b1475126fa6711f4d932f73ae72e75273478c685aa757496b70534056cc7" } -} +} \ No newline at end of file diff --git a/ufactory_uf850/payloads/materials.usda b/ufactory_uf850/payloads/materials.usda index c4e19a8a17f3772e531642b8b6fc77e2b170e20f..291b69d037767ef4f8b401bc4ca17614ebdc383f 100644 --- a/ufactory_uf850/payloads/materials.usda +++ b/ufactory_uf850/payloads/materials.usda @@ -18,7 +18,7 @@ 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" ) @@ -55,7 +55,7 @@ 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) @@ -73,7 +73,7 @@ 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" ) @@ -110,7 +110,7 @@ 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) @@ -128,7 +128,7 @@ 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" ) @@ -165,7 +165,7 @@ 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) @@ -186,7 +186,7 @@ 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" ) @@ -223,7 +223,7 @@ 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) @@ -241,7 +241,7 @@ 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" ) @@ -382,7 +382,7 @@ 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) @@ -403,7 +403,7 @@ 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" ) @@ -544,7 +544,7 @@ 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/ufactory_uf850/uf850.usda b/ufactory_uf850/uf850.usda index 9be9d0adcddd9a658ceee72476de610289aaaa47..64c60cbf0188db862014fda28d37af76ace5a5f2 100644 --- a/ufactory_uf850/uf850.usda +++ b/ufactory_uf850/uf850.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/ufactory_xarm6/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/ufactory_xarm6/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 970d869d067db9c775f0e302dbebddcb587235cd..042ca00853799f448070b54e82ed5e8f999d54ae 100644 --- a/ufactory_xarm6/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/ufactory_xarm6/.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": "2026-10-26T18:20:48", + "timestamp": "2026-11-02T23:12:29", "assets": [ { "asset": "xarm6.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": "c384a720e8b7b8144977edee870cfb084719d3b65eee590d0e1c79af2c158df3" + "sha256": "4f21a659a92014ea1b62d4b2d1f188a7c6c245130f7fcbfd0e6180f65bc59aed" } } diff --git a/ufactory_xarm6/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/ufactory_xarm6/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 8d628be36d2cdd033db75e56a709cbecc1bf12f8..d58023ae3d38d3671f9b93a7acdcf8680075e953 100644 --- a/ufactory_xarm6/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/ufactory_xarm6/.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": "2026-10-26T22:35:58", + "timestamp": "2026-11-02T23:12:31", "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/ufactory_xarm6/.metadata/com.nvidia.simready.packaging.bom.json b/ufactory_xarm6/.metadata/com.nvidia.simready.packaging.bom.json index 92a42f358ee55a561e87650284e5628b5e7240b3..9898cafd8ae046bb108b8afd8b3044afba3fa15f 100644 --- a/ufactory_xarm6/.metadata/com.nvidia.simready.packaging.bom.json +++ b/ufactory_xarm6/.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/ufactory_xarm6/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/ufactory_xarm6/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49425, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "0a4f834047dcd7425b62be9a4e812bebe2acec9be4d178ab8a99801d1861305c", + "sha256": "8451dd63bc4ae22a9642193a9aee18c8c9e6e22eb33bb239f9537f7f83d8e8bd" } }, { @@ -18,14 +18,6 @@ "sha256": "6e47e19d48c012ef4456c8f0f0152361acd3e019e2ada49184ef3d56401450a5" } }, - { - "relative_path": ".thumbs/xarm6.thumb.usd", - "size": 6122, - "hash": { - "sha256-flat-1mb": "af603b83f6c3d06ee0e39d7d79c3871d4586b649541162c5cf9d09f9dae734d9", - "sha256": "0500b7ee5287925bc4f5ae9d7c53aea89c2e8f41b301ba43d7c7299638e2598a" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -214,10 +206,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 20168, + "size": 20216, "hash": { - "sha256-flat-1mb": "c196f3818c7024bee92e8ffaef65b8515da0b2e9d5664c0047b8fe060754ac04", - "sha256": "e6ae335479c1a426975791f74861ac4466567b29ec76647bc59ce19ac7b9ae31" + "sha256-flat-1mb": "39db6cd684a9cf648f31d5496d0281b88dfd73a34a50ed2b098f35cc1f9144b5", + "sha256": "0e5c8fa77dea0ad995f3d29096ad789da1bbb3f587f650d1262c9a93e5012d7b" } }, { @@ -254,11 +246,11 @@ }, { "relative_path": "xarm6.usda", - "size": 19742, + "size": 85279, "hash": { - "sha256-flat-1mb": "46eb547900e773a76fe67562b7cc70f9bd6106f91edda6c4dcfc9a20a5522462", - "sha256": "90e012212c16585035953ac09a464965e86c59937b034ee6fef3561c2001cef1" + "sha256-flat-1mb": "a80fad68b379a7f4c90f3405b426c198ce3dd1d25b0532d8b1d7c124e0ed7ee1", + "sha256": "ba0cc5a87eec99dcd605a3e7f59246b092732b3a0de3df8cb63de21d13c4743d" } } ] -} +} \ No newline at end of file diff --git a/ufactory_xarm6/.simready/validation.json b/ufactory_xarm6/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..bc75ce3b43ab70760368c12c56235b79306f3b91 100644 --- a/ufactory_xarm6/.simready/validation.json +++ b/ufactory_xarm6/.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", + "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", + 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"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/ufactory_xarm6/.thumbs/xarm6.thumb.usd b/ufactory_xarm6/.thumbs/xarm6.thumb.usd deleted file mode 100644 index 960382875bd572bc121f0b98d610ef340f877a9f..0000000000000000000000000000000000000000 Binary files a/ufactory_xarm6/.thumbs/xarm6.thumb.usd and /dev/null differ diff --git a/ufactory_xarm6/com.nvidia.simready.packaging.json b/ufactory_xarm6/com.nvidia.simready.packaging.json index 5c3fcf88291ebcbd4f13b441c994ea6b56dbbd46..50c9a262e7ac06fafa17c01ccddddc6d10e7ec6c 100644 --- a/ufactory_xarm6/com.nvidia.simready.packaging.json +++ b/ufactory_xarm6/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.ufactory_xarm6.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.ufactory_xarm6.3.0.0", "license": "unknown", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "93bf0e4ca27c5f7fe9c45fdd1eb7202f6137247c371cde905d23031eb34c57d4" + "sha256": "081b83f288b4c894a4c32c1e3c71a0e770d292fbe65a2e844f5f3d94488b8118" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "f42aa44ec63de65bfdbd839da7e946f533517d8bdf0c6be01a0e077bd59a798b" + "sha256": "ff3fab452ded6660ad317e6e0c1f36f37f8d46a52b926f3e809e8766e710469c" } }, { @@ -23,9 +23,9 @@ } ], "content_hash": { - "sha256": "82370ee1f2f79535f63115904cccdb38394464db29421ecfe210f6f0af8aa60c" + "sha256": "4f21a659a92014ea1b62d4b2d1f188a7c6c245130f7fcbfd0e6180f65bc59aed" }, "package_hash": { - "sha256": "e1266d031c29754bc92dde77c2d3ae23016899cd384c403d47a9c74ed21db0ff" + "sha256": "a8d9ea4c690a8f0cd081d1a3d8da46a55f79b2b4dd4fbe78e46f5858a0420478" } -} +} \ No newline at end of file diff --git a/ufactory_xarm6/payloads/materials.usda b/ufactory_xarm6/payloads/materials.usda index 1042080fa2140bb4dc1c9408bc6ec536a4ae8f34..a1bd85f6e9b5a5a31094e9f1865df91255f08476 100644 --- a/ufactory_xarm6/payloads/materials.usda +++ b/ufactory_xarm6/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) @@ -342,7 +342,7 @@ 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" ) @@ -379,7 +379,7 @@ 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) @@ -397,7 +397,7 @@ 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" ) @@ -434,7 +434,7 @@ 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) @@ -455,7 +455,7 @@ 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" ) @@ -492,7 +492,7 @@ 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) @@ -513,7 +513,7 @@ 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" ) @@ -550,7 +550,7 @@ 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/ufactory_xarm6/xarm6.usda b/ufactory_xarm6/xarm6.usda index 9300e2a3d5625bd92a574083a1989b285ada32d9..1e2f93db45a3e778db943d03df8a20e48f685b2e 100644 --- a/ufactory_xarm6/xarm6.usda +++ b/ufactory_xarm6/xarm6.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 = 1 + string provider = "simready.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/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 = 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/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 = 1 + string provider = "simready.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/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/ufactory_xarm7/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/ufactory_xarm7/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 7252d5be017473164ca9ba046e0aef8db5866c22..8a85378ad4fb5842da83730a971fe0373c80c741 100644 --- a/ufactory_xarm7/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/ufactory_xarm7/.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": "2026-10-26T18:20:50", + "timestamp": "2026-11-02T23:12:31", "assets": [ { "asset": "xarm7.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": "c9164664c5a57e6e1493d2ff12dab7ea77e97d5c2b6a13dd98a9aa1367a83ac8" + "sha256": "b73430d8432fdbc566e131157bd83ea4b75b6369e3bf6d3867295dc064253d34" } } diff --git a/ufactory_xarm7/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/ufactory_xarm7/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..0df6fe05f9ed5165d2420d6d5784ceaaaa32a339 100644 --- a/ufactory_xarm7/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/ufactory_xarm7/.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": "2026-11-02T23:12:33", "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/ufactory_xarm7/.metadata/com.nvidia.simready.packaging.bom.json b/ufactory_xarm7/.metadata/com.nvidia.simready.packaging.bom.json index 2cac7e1333e10293b791f582a756083134f2cfff..0084ccfc3e98fb59a67df008c7561f523dfdf1a4 100644 --- a/ufactory_xarm7/.metadata/com.nvidia.simready.packaging.bom.json +++ b/ufactory_xarm7/.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/ufactory_xarm7/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/ufactory_xarm7/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 49425, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "0a4f834047dcd7425b62be9a4e812bebe2acec9be4d178ab8a99801d1861305c", + "sha256": "8451dd63bc4ae22a9642193a9aee18c8c9e6e22eb33bb239f9537f7f83d8e8bd" } }, { @@ -18,14 +18,6 @@ "sha256": "61dafbe26f4affb9e4344e8dce68c96eddaf091a02fdb2b9a1075a1ab22c2fc6" } }, - { - "relative_path": ".thumbs/xarm7.thumb.usd", - "size": 6122, - "hash": { - "sha256-flat-1mb": "117d5b8204a6405c7d28daf87fc054a053718030bfcdf6cc6327c000a2df2c50", - "sha256": 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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": true, + "status": "pass", + "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": true, + "status": "pass", + "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/ufactory_xarm7/.thumbs/xarm7.thumb.usd b/ufactory_xarm7/.thumbs/xarm7.thumb.usd deleted file mode 100644 index d2a74ee75229602e74d597818d6b039f8e141373..0000000000000000000000000000000000000000 Binary files a/ufactory_xarm7/.thumbs/xarm7.thumb.usd and /dev/null differ diff --git a/ufactory_xarm7/com.nvidia.simready.packaging.json b/ufactory_xarm7/com.nvidia.simready.packaging.json index 9919d44d86806e5dbe58a304958bb39a0132d2eb..013220474123bcd308de1db4a6a503ad7a2d0212 100644 --- a/ufactory_xarm7/com.nvidia.simready.packaging.json +++ b/ufactory_xarm7/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.ufactory_xarm7.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.ufactory_xarm7.3.0.0", "license": "unknown", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "cf4434e204b0574df243e14685b15c19abec5988569278660f3628f69974c1e6" + "sha256": "840471e5d7d056d428eaf591fe6533dd8b008ff2703aa4710754eb70429a244f" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "a7fff1fe1d100cc78b570475569e66199cdaca7de2a188789ce44c93fab9cef0" + "sha256": "6794e7a320b4f47a29551205a119da816d99349e2568d922c82660e6a4bb5597" } }, { @@ -23,9 +23,9 @@ } ], "content_hash": { - "sha256": "8fe9ba36391d0447c9d562fc852632a92f5c91aa7121c5c03f04aa0045a5748f" + "sha256": "b73430d8432fdbc566e131157bd83ea4b75b6369e3bf6d3867295dc064253d34" }, "package_hash": { - "sha256": "8156ff77af42ed34fbc80fc1e33b51253c968d1221e1737f8b2de0551e58b107" + "sha256": "a4f32e4b9dfbba5ce3c822269f6019d03d389699a7bc181f3b77d28d0da40009" } -} +} \ No newline at end of file diff --git a/ufactory_xarm7/payloads/materials.usda b/ufactory_xarm7/payloads/materials.usda index 17c9e095ada4ba00521ac0d7bd78d0cce6101f18..a75256b4174967317b31cce9b6464069ae76a308 100644 --- a/ufactory_xarm7/payloads/materials.usda +++ b/ufactory_xarm7/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) @@ -342,7 +342,7 @@ 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" ) @@ -379,7 +379,7 @@ 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) @@ -397,7 +397,7 @@ 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" ) @@ -434,7 +434,7 @@ 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) @@ -452,7 +452,7 @@ 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" ) @@ -489,7 +489,7 @@ 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" ) @@ -544,7 +544,7 @@ 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) @@ -565,7 +565,7 @@ 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" ) @@ -706,7 +706,7 @@ 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) @@ -727,7 +727,7 @@ 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" ) @@ -868,7 +868,7 @@ 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/ufactory_xarm7/xarm7.usda b/ufactory_xarm7/xarm7.usda index b0e168ac1ac9ab2c17e9bad208f5fb1a0e9a4633..5fbc97842c2e7dbbdd6a4deab8410df51d0450f9 100644 --- a/ufactory_xarm7/xarm7.usda +++ b/ufactory_xarm7/xarm7.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 = 1 + string provider = "simready.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/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 = 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/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 = 1 + string provider = "simready.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/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/unitree_z1/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/unitree_z1/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 10d80dad72a903bd6015c8d662dd0234fea69c2c..709ec37f97421cf0f8f746a165a64127322bcef3 100644 --- a/unitree_z1/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/unitree_z1/.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": "2026-10-26T18:20:53", + "timestamp": "2026-11-02T23:12:34", "assets": [ { "asset": "z1.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": "7ffe8022a4635cedbdb3b09d1e7a6c3678ab25928386098f252aa9c0912480d7" + "sha256": "e3ead2fa33e3e5ae748f8267af74081379aaea00eacbb3cf0e6e884baa99951e" } } diff --git a/unitree_z1/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/unitree_z1/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..65bea1a04a79c7228e31cf535a9321cbddeb96e1 100644 --- a/unitree_z1/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/unitree_z1/.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": "2026-11-02T23:12:36", "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/unitree_z1/.metadata/com.nvidia.simready.packaging.bom.json b/unitree_z1/.metadata/com.nvidia.simready.packaging.bom.json index 496da7faf41000aacce172eb24d1980dc8f74d8c..deb4c90bd6f65d018aaee2b1f0b1316c2d0bc05c 100644 --- a/unitree_z1/.metadata/com.nvidia.simready.packaging.bom.json +++ b/unitree_z1/.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/unitree_z1/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/unitree_z1/3.0.0", "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": "6de56191fe9f7e8e483e0f2e966d6dd9191bef0e43dca05d3d970021a1d2410e" } }, - { - "relative_path": ".thumbs/z1.thumb.usd", - "size": 6737, - "hash": { - "sha256-flat-1mb": "5900364b620fecdd12d3f94bc33e510c6a97977d27a326c7ba20b72862fc0712", - "sha256": "9e7b086d3b8e3de9ae7752f4de160047b6ed0e1146f1101396ca3862920530e9" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -237,10 +229,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 4762, + "size": 4770, "hash": { - "sha256-flat-1mb": "0f32e539b4bf26b1e80d7725a4826143365058eb96d694f436d2d369db8fe91d", - "sha256": "597f46d235a5bcd281e49ce997b6d67c30375863d519f7d1be35d6a9f297efed" + "sha256-flat-1mb": "a37c26e90e864c58f8e5ae41c14d4b66d266325abdbb1f73db46b13dee88adf0", + "sha256": "79876cee506628bff3f1bb4dfb8dc0f98e3ce637d6d8c9acefcd4c8bd24c1897" } }, { @@ -277,11 +269,11 @@ }, { "relative_path": "z1.usda", - "size": 15388, + "size": 80934, "hash": { - "sha256-flat-1mb": "c7ebaebbd6c778e15fe1eb162b7441b881b4aa9473198cf7c50c5abf1ac2f2ab", - "sha256": "ed6f7eb765bb13a84c336525c1b69bd0c8d46e1f629ec6e25f4ca399e75ed18c" + "sha256-flat-1mb": "f433f499b9b361a45d68031841838ac00858284cf2de2aaf593cbf6ea31ff826", + "sha256": "9eab3190d28737537bb2c706759e15fbdb5da97a8b04d9f6531e40af252b7f01" } } ] -} +} \ No newline at end of file diff --git a/unitree_z1/.simready/validation.json b/unitree_z1/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/unitree_z1/.simready/validation.json +++ b/unitree_z1/.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", + "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": { + 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"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/unitree_z1/.thumbs/z1.thumb.usd b/unitree_z1/.thumbs/z1.thumb.usd deleted file mode 100644 index 3aafe87b01c9406e57f5165d95cebb2eaa1c8237..0000000000000000000000000000000000000000 Binary files a/unitree_z1/.thumbs/z1.thumb.usd and /dev/null differ diff --git a/unitree_z1/com.nvidia.simready.packaging.json b/unitree_z1/com.nvidia.simready.packaging.json index 80b44fb322f7317abca7efab8866ce2180166a73..720e8fbabe45b43241679e982e4f7e5048049b82 100644 --- a/unitree_z1/com.nvidia.simready.packaging.json +++ b/unitree_z1/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.unitree_z1.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.unitree_z1.3.0.0", "license": "unknown", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "fff0e6c76e7bc4c4c73a395e32d56e9195cebe928e7432415ec6f8111effdf5d" + "sha256": "e1e691f547ecf0d706219c0336cb583fc22e8aa24df132b71b01d05e6e82dabf" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "ec279eb4354a7859489cfececa2a336d8015bb3e6ae11ab7870da3fdf10a1261" + "sha256": "e00634bad86cece49c314df963c0523bdf086d71c5961e96924b4538302f3e35" } }, { @@ -23,9 +23,9 @@ } ], "content_hash": { - "sha256": "306bdbecd5e72079cd1d01925d0cb6814532340194ccd8f1360d775af232e8d8" + "sha256": "e3ead2fa33e3e5ae748f8267af74081379aaea00eacbb3cf0e6e884baa99951e" }, "package_hash": { - "sha256": "635d2e5edb95fecd94356cbc09ef74b905d72ab13698357b3034f68c005aaefa" + "sha256": "02b4907c2ee0dbce2e7c4a1f97318bc977584d63b6543ff7d68505cd8bc992e7" } -} +} \ No newline at end of file diff --git a/unitree_z1/payloads/materials.usda b/unitree_z1/payloads/materials.usda index 3ef222a1b2e18b8e54ea06f42b4b1dd623d1ed97..2bfb0d86d97c805fa91b2efd9112451e7c0600ea 100644 --- a/unitree_z1/payloads/materials.usda +++ b/unitree_z1/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" ) @@ -125,7 +125,7 @@ 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/unitree_z1/z1.usda b/unitree_z1/z1.usda index 4cff5fd691b3ab9040ed60968914557751552ff6..6dafa846643c81d0261f26b7774134777b624358 100644 --- a/unitree_z1/z1.usda +++ b/unitree_z1/z1.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/universalrobots_ur10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index ed913ef1b22a744edbf303b8d2fa94975a3c38ac..f2356ea78be61f10d3b5ed63cea28cf2b2d72a24 100644 --- a/universalrobots_ur10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur10/.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": "2026-10-26T18:20:55", + "timestamp": "2026-11-02T23:12:37", "assets": [ { "asset": "ur10.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": "1740c2fcd51c2ca4f9c2862b724469cef3244512721e26330162feb9a1832880" + "sha256": "28494167ee895501abc3c94087b82b782bd093ab99dee26e6b3eba519c5a93f4" } } diff --git a/universalrobots_ur10/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/universalrobots_ur10/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..f32b657221ebb8192ad9f8f915eb189e0d1b34b0 100644 --- a/universalrobots_ur10/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/universalrobots_ur10/.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": "2026-11-02T23:12:39", "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/universalrobots_ur10/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur10/.metadata/com.nvidia.simready.packaging.bom.json index 0e23682afe527467fb2e4fb00ef1998c0bd08c48..6c524824295864c9bb3cf78cd01eda48f6ba5e9c 100644 --- a/universalrobots_ur10/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur10/.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_ur10/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/universalrobots_ur10/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 48773, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "33251169bde4ad8504c65ac0ffb94955f58f2e05843fd5e3edbb9658744252be", + "sha256": 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"ur10.usda", - "size": 17454, + "size": 81953, "hash": { - "sha256-flat-1mb": "e8e15143d65b5f64c30729ee4f778a6697f8733c3c5f950e77be625f69016d0c", - "sha256": "93dc8a9982e9edbf647c8eecf5a0f9797063dfa78fa464edaeda921cd832bb22" + "sha256-flat-1mb": "c6706dee3d14491c49df16916019c10f7e30145d23a042b4818bb70ce5e66c0d", + "sha256": "516b30af60c6a6063873d45eaf54037b76a945f642d608797b7ddb937625d81c" } } ] -} +} \ No newline at end of file diff --git a/universalrobots_ur10/.simready/validation.json b/universalrobots_ur10/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..709c7e049c5320a0c465bff8d3bb62ba137ff06e 100644 --- a/universalrobots_ur10/.simready/validation.json +++ b/universalrobots_ur10/.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 +218,941 @@ 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"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": true, + "status": "pass", + "version": "0.1.0", + "engines": { + "isaac_sim_newton": { + "passed": true, + "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": true, + "status": "pass", + "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" + }, + "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": "pass" + } + }, + "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": true, + "status": "pass", + "version": "0.2.0", + "engines": { + "isaac_sim": { + "passed": true, + "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": true, + "status": "pass", + "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" + }, + "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": "pass" + } + }, + "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_ur10/.thumbs/ur10.thumb.usd b/universalrobots_ur10/.thumbs/ur10.thumb.usd deleted file mode 100644 index 1af4e18b200f4234c2a6c395a41ddc4a9c7f83de..0000000000000000000000000000000000000000 Binary files a/universalrobots_ur10/.thumbs/ur10.thumb.usd and /dev/null differ diff --git a/universalrobots_ur10/com.nvidia.simready.packaging.json b/universalrobots_ur10/com.nvidia.simready.packaging.json index c35ff72e9e441304390bc0da137ad410558ab9da..03fb09280a91be0e07cee24fd4aaf047415139be 100644 --- a/universalrobots_ur10/com.nvidia.simready.packaging.json +++ b/universalrobots_ur10/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur10.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur10.3.0.0", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "f77b13d4aa6a66e7a89492306cfc749867ada493b3ad6e969e07cd7d4d2069f5" + "sha256": "068a97b40abb070796225f5611a3e19335f3d8adaff6cb1c05d4c082e1bf7222" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "0f3e3c03fc004994006325834d75f330d3449eb5fd1793c7c1a2b2b0fd876f02" + "sha256": "9a13b4c8933addd040334ea1c4352cd6c864200a10c5f10fca0f24c01415ab69" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "8e0b3cdf5677321cb581a077fe480bc4b81be7e0a3b73643fc747c17a1c967c1" + "sha256": "28494167ee895501abc3c94087b82b782bd093ab99dee26e6b3eba519c5a93f4" }, "package_hash": { - "sha256": "b69c1d0670ca5762ba0dcb7ce41e72a64e7b9b0eb1a402f3108ce9e73c03e295" + "sha256": "0df8872adf7cb388b2eca0c771431e45d466ed2abbf61afa603321dd021fbec5" } } diff --git a/universalrobots_ur10/payloads/materials.usda b/universalrobots_ur10/payloads/materials.usda index 311960a348e7647b62ad2449b59a0ba13da1c106..8287a974c878a7c5938eae2d6bdb553b77591f87 100644 --- a/universalrobots_ur10/payloads/materials.usda +++ b/universalrobots_ur10/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" ) @@ -87,7 +87,7 @@ 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) @@ -108,7 +108,7 @@ 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" ) @@ -154,7 +154,7 @@ 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) @@ -175,7 +175,7 @@ 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" ) @@ -221,7 +221,7 @@ 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) @@ -242,7 +242,7 @@ 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" ) @@ -375,7 +375,7 @@ 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_ur10/ur10.usda b/universalrobots_ur10/ur10.usda index d466e612763a209c7f339e6c5c03240ee84f7326..74a5221dda7a24f633ecc23c9ff5f16e996793a6 100644 --- a/universalrobots_ur10/ur10.usda +++ b/universalrobots_ur10/ur10.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 = 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/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 = 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/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_ur10e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur10e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 923e5b11e36c1a1b6ebca9c4408aa30fffd1c2cd..e4dee1803343d5b1899cfb9e71d56dab01f1767b 100644 --- a/universalrobots_ur10e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur10e/.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": "2026-10-26T18:20:57", + "timestamp": "2026-11-02T23:12:40", "assets": [ { "asset": "ur10e.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": "4e30efb6a0d6576f90a770bace063c4f8366ef2fb61fd71b21b32abb417f43ec" + "sha256": "7f660cb5d5c565ce3fd381ed7a32626f7cb8085f4ee721729979a56d6d591f43" } } diff --git a/universalrobots_ur10e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/universalrobots_ur10e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..8b7c3cdf39567199fd4ccab4c503e48705764a82 100644 --- a/universalrobots_ur10e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/universalrobots_ur10e/.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": "2026-11-02T23:12:42", "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/universalrobots_ur10e/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur10e/.metadata/com.nvidia.simready.packaging.bom.json index b2cce9f9697775980c79fe0f864f616d542d7a87..51c04989b39760c4bfdf4ed78f23886c10cae30d 100644 --- a/universalrobots_ur10e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur10e/.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_ur10e/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/universalrobots_ur10e/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 48765, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "a538045b0ed83ae68b56610d4f1271eff5f0e0c086f2e5bb81d6c3d968a402f4", + "sha256": "59a4f7d0bc91bfc0d8ca2b3265fdb441af9c0ebb67657e460b69ac96e0ab5fbc" } }, { @@ -18,54 +18,22 @@ "sha256": "4213385408ed3567147c6a61210f2e50d50c7ef319820ebf4c98391513e9b557" } }, - { - "relative_path": ".thumbs/ur10e.thumb.usd", - "size": 6122, - "hash": { - "sha256-flat-1mb": "34c192d20115605c703d293ab02b64bb2384f7a6ce136b6bcf04d0d4e1f40e2c", - "sha256": 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"dependencies/simready_Robotiq_2F-140/payloads/Physics/physics.usda", - "size": 20500, + "size": 22107, "hash": { - "sha256-flat-1mb": "b0de89365957493f11495e3032e4f7c331f6e7d8b7445a2ba3b76253f6b0cfa9", - "sha256": "ee3bad75c5d011763bce540ffc65b972668096a71f7ce4bea4377ec6a2adb32e" + "sha256-flat-1mb": "5b1ffe6f8e329e348bb3195fc7b4bf49dc5b14c340aa6b03c668e8b174a80047", + "sha256": "7ddbd78778a1e345b550444b9379581b3ad0a310b2cd1521b60cee11d04e1c70" } }, { @@ -156,10 +124,10 @@ }, { "relative_path": "dependencies/simready_Robotiq_2F-140/payloads/base.usda", - "size": 11065, + "size": 11976, "hash": { - "sha256-flat-1mb": "819ff4557ad0b5648172da7dc9c63428b19c06536ec16ba042aac61a2a5e9dbd", - "sha256": "36eda25f4088457c3d28ce6f0315f1f2af29d27f6168ae57eb819d30a1019681" + "sha256-flat-1mb": "298935fe30c59eeba764db1ca2469032e939072472485248999d3767941f2c22", + "sha256": "a433de956a7aa2875d3570c38919dbe06e731121a556a2d423add619912efec1" } }, { @@ -173,82 +141,82 @@ }, { "relative_path": 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"sha256-flat-1mb": "99dc063d479e5cc17ca120e03e66fef47a66d8c20cbd7a8264516a85cc5a27b3", - "sha256": "a3efac4b9d713f19ef0744b3e3c0f9043f016518825d43b36dc57fd2a4833d60" + "sha256-flat-1mb": "c1d0fc271c9a5b1c1f0287a249fcc9adc65788ae440086dd70fb1402b6089a9b", + "sha256": "74e407315399fb7ad23915fd683fa51eed912c6c853c57680b546c99d31ba694" } }, { @@ -446,18 +438,18 @@ }, { "relative_path": "payloads/Gripper/Robotiq_2F_140.usda", - "size": 2633, + "size": 3557, "hash": { - "sha256-flat-1mb": "b1f013ba65d4e8687bcf8f89a029511e5ee47ce9eb6936a90c3df3e14a87e598", - "sha256": "59171477523770ed8121a220d08022b710c08c27d218ad4170615214b6eb0ffe" + "sha256-flat-1mb": "6c5332e1d0d99b89aa59d81814c081bb7cedabd5be49694e360b5ea154f0d867", + "sha256": "a7a25c6bce0f70652007348187360881c31b3dc250ad4fc9d58fe61bd74afe8e" } }, { "relative_path": "payloads/Gripper/Robotiq_2F_85.usda", - "size": 2476, + "size": 2591, "hash": { - "sha256-flat-1mb": "6d7977e1ee380e4b8496ca8c9c459b11aa276b0148ab9e7b05dd5922241c8c7d", - 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"78326837e8989d1d1f715defc2a880a78e360a64c3cf20a6e605c6cf43924581", + "sha256": "b06be32e08973ad4b965e9061147352be577ef637acf07d41a194fa6cf54a57c" } } ] -} +} \ No newline at end of file diff --git a/universalrobots_ur10e/.simready/validation.json b/universalrobots_ur10e/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..3f87c16eaef79ec5f2e82a56947559406fd6f701 100644 --- a/universalrobots_ur10e/.simready/validation.json +++ b/universalrobots_ur10e/.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 +218,941 @@ } } } + }, + "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": { + 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"version": "0.1.0" + } + } + } + }, "validation": { "profile": "Robot-Gripper", "profile_version": "3.0.0", "validated_features": { - "2026-10-20": { + "2026-10-31": { "CAP000_Core.MuJoCo.0-1-0": { "blocking_failure": false, "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "optional requirements": "['com.nvidia.simready.NP.005', 'com.nvidia.simready.RV.007']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP000_Core.Newton.0-1-0": { "blocking_failure": false, "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "optional requirements": "['com.nvidia.simready.NP.005', 'com.nvidia.simready.RV.004']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP000_Core.OpenUSD.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.NP.005']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP000_Core.PhysX.0-1-0": { "blocking_failure": false, "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "optional requirements": "['com.nvidia.simready.NP.005']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP003_RigidBody.MuJoCo.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP004_Multibody.MuJoCo.0-1-0": { "blocking_failure": false, "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP004_Multibody.RobotMuJoCo.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP021_RobotCore.Isaac.0-2-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.003', 'com.nvidia.simready.RC.005', 'com.nvidia.simready.RC.009']", - "passed": false, + "passed": true, "version": "0-2-0" }, "CAP022_DrivenJoints.MuJoCo.0-1-0": { "blocking_failure": false, "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP024_BaseArticulation.MuJoCo.0-1-0": { @@ -77,8 +1247,7 @@ "CAP024_BaseArticulation.Newton.0-1-0": { "blocking_failure": false, "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "optional requirements": "['com.nvidia.simready.NEWTON.BA.001']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP024_BaseArticulation.OpenUSD.0-1-0": { @@ -96,8 +1265,7 @@ "CAP028_Gripper.MuJoCo.0-1-0": { "blocking_failure": false, "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { @@ -107,11 +1275,9 @@ "version": "0-1-0" }, "CAP033_SimReadyPackage.OpenUSD.0-4-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", - "failing requirements": "['com.nvidia.simready.SR.004']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.SR.004\": [\"Required metadata fields are missing: mass. Fields may be authored in root-layer customLayerData (including SimReady_Metadata) and/or the same-directory sidecar JSON.\"]}", + "passed": true, "version": "0-4-0" }, "CAP100_IsaacComposition.Isaac.0-3-0": { @@ -129,8 +1295,7 @@ "FET003_RigidBody.Newton.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']", - "passed": false, + "passed": true, "version": "0-1-0" }, "FET003_RigidBody.OpenUSD.0-2-0": { @@ -148,8 +1313,7 @@ "FET004_Multibody.Newton.0-1-0": { "blocking_failure": false, "dependencies": "['FET003_RigidBody.Newton.0-1-0']", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "FET004_Multibody.OpenUSD.0-2-0": { @@ -161,29 +1325,25 @@ "FET004_Multibody.PhysX.0-4-0": { "blocking_failure": false, "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", - "optional requirements": "['com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-4-0" }, "FET004_Multibody.RobotNewton.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "FET004_Multibody.RobotPhysX.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "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": { @@ -195,64 +1355,285 @@ "FET006_Materials.Openpbr.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.PBR.001']", - "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.0-1-0": { "blocking_failure": false, "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", - "optional requirements": "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "FET022_DrivenJoints.Isaac.0-2-0": { "blocking_failure": false, "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", - "optional requirements": "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-2-0" }, "FET022_DrivenJoints.Newton.0-1-0": { "blocking_failure": false, "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.NEWTON.DJ.001', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "FET022_DrivenJoints.OpenUSD.0-2-0": { "blocking_failure": false, "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", - "optional requirements": "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002']", - "passed": false, + "passed": true, "version": "0-2-0" }, "FET022_DrivenJoints.PhysX.0-1-0": { "blocking_failure": false, "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", - "optional requirements": "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "FET022_DrivenJoints.PhysX.0-2-0": { "blocking_failure": false, "dependencies": "['FET004_Multibody.PhysX.0-4-0']", - "optional requirements": "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-2-0" }, "FET028_Gripper.Isaac.0-1-0": { "blocking_failure": false, "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", - "optional requirements": "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "2026-11-01": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, "version": "0-1-0" }, "FET028_Gripper.OpenUSD.0-1-0": { diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/.thumbs/256x256/Robotiq_2F_140.usda.png b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/.thumbs/256x256/simready_Robotiq_2F-140.usda.png similarity index 100% rename from universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/.thumbs/256x256/Robotiq_2F_140.usda.png rename to universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/.thumbs/256x256/simready_Robotiq_2F-140.usda.png diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/.thumbs/Robotiq_2F_140.thumb.usd b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/.thumbs/Robotiq_2F_140.thumb.usd deleted file mode 100644 index 05d4454c7617ef33756bcdafeadde75ab960e212..0000000000000000000000000000000000000000 Binary files a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/.thumbs/Robotiq_2F_140.thumb.usd and /dev/null differ diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/Robotiq_2F_140.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/Robotiq_2F_140.usda deleted file mode 100644 index 3cb13c8265fe32e14310b75ff2c8eb95067122d2..0000000000000000000000000000000000000000 --- a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/Robotiq_2F_140.usda +++ /dev/null @@ -1,472 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/Robotiq_2F_140" - string variantSetName = "PhysX" - } - } - } - dictionary validation = { - string profile = "Robot-Gripper" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-20" = { - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NP.005', 'com.nvidia.simready.RV.007']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NP.005', 'com.nvidia.simready.RV.004']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.NP.005']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NP.005']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.003', 'com.nvidia.simready.RC.005', 'com.nvidia.simready.RC.009']" - bool passed = 0 - string version = "0-2-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.BA.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 1 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.SR.004']" - bool passed = 0 - string requirement_messages = '{"com.nvidia.simready.SR.004": ["Required metadata fields are missing: mass. Fields may be authored in root-layer customLayerData (including SimReady_Metadata) and/or the same-directory sidecar JSON."]}' - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - string "optional requirements" = "['com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - 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 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - 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']" - bool passed = 0 - 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 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - string "optional requirements" = "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.NEWTON.DJ.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - string "optional requirements" = "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002']" - bool passed = 0 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - string "optional requirements" = "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-2-0" - } - dictionary "FET028_Gripper.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "FET028_Gripper.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - } - } - } - } - float3 asset_extents = (0.21090108, 0.21130733, 0.075) - string asset_license = "CC-BY-4.0" - string asset_name = "Robotiq_2F_140" - string asset_type = "robot" - string author = "Robotiq" - string category = "robot end effector" - string qcode = "Q1340324" - int rigid_body_count = 9 - string source_file = "Robotiq/2F-140/Robotiq_2F_140.usda" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "Robotiq_2F_140" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "Robotiq_2F_140" ( - kind = "component" - prepend references = [ - @./payloads/Physics/physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string PhysX = "Disabled" - } - prepend variantSets = "PhysX" -) -{ - over "left_outer_knuckle" - { - over "Finger1" ( - instanceable = false - ) - { - over "Finger1" - { - float3[] extent = [(-0.06801494, 0.044373713, -0.0047), (-0.03498509, 0.064530514, 0.0047)] - } - } - } - - over "left_outer_finger" - { - over "Finger2" ( - instanceable = false - ) - { - over "Finger2" - { - float3[] extent = [(-0.105653666, 0.04403517, -0.0136), (-0.047659468, 0.13526823, 0.0136)] - } - } - } - - over "left_inner_finger" - { - over "Fingertip_01" - { - over "Fingertip" ( - instanceable = false - ) - { - over "Fingertip" - { - float3[] extent = [(-0.091355085, 0.14228664, -0.011), (-0.072197594, 0.20778665, 0.011)] - } - } - } - - over "Finger4_01" - { - over "Finger4" ( - instanceable = false - ) - { - over "Finger4" - { - float3[] extent = [(-0.10343339, 0.123293996, -0.0135), (-0.07355508, 0.15128665, 0.0135)] - } - } - } - } - - over "left_inner_knuckle" - { - over "Finger3" ( - instanceable = false - ) - { - over "Finger3" - { - float3[] extent = [(-0.085554935, 0.055458643, -0.0175), (-0.0067001586, 0.141748, 0.0175)] - } - } - } - - over "right_outer_knuckle" - { - over "Finger1" ( - instanceable = false - ) - { - over "Finger1" - { - float3[] extent = [(-0.06801494, 0.044373713, -0.0047), (-0.03498509, 0.064530514, 0.0047)] - } - } - } - - over "right_outer_finger" - { - over "Finger2" ( - instanceable = false - ) - { - over "Finger2" - { - float3[] extent = [(-0.105653666, 0.04403517, -0.0136), (-0.047659468, 0.13526823, 0.0136)] - } - } - } - - over "right_inner_finger" - { - over "Finger4_01" - { - over "Finger4" ( - instanceable = false - ) - { - over "Finger4" - { - float3[] extent = [(-0.10343339, 0.123293996, -0.0135), (-0.07355508, 0.15128665, 0.0135)] - } - } - } - - over "Fingertip_01" - { - over "Fingertip" ( - instanceable = false - ) - { - over "Fingertip" - { - float3[] extent = [(-0.091355085, 0.14228664, -0.011), (-0.072197594, 0.20778665, 0.011)] - } - } - } - } - - over "right_inner_knuckle" - { - over "Finger3" ( - instanceable = false - ) - { - over "Finger3" - { - float3[] extent = [(-0.085554935, 0.055458643, -0.0175), (-0.0067001586, 0.141748, 0.0175)] - } - } - } - - over "robotiq_base_link" - { - over "_F_Body_01" - { - over "_F_Body" ( - instanceable = false - ) - { - over "_F_Body" - { - float3[] extent = [(-0.04244335, -0.0033564342, -0.0375), (0.042443354, 0.09, 0.0375)] - } - } - } - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } -} - diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/license.txt b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/license.txt deleted file mode 100644 index da6ab6cc8f333d7e89a99812866df8f24374d47c..0000000000000000000000000000000000000000 --- a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/license.txt +++ /dev/null @@ -1,396 +0,0 @@ -Attribution 4.0 International - 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For -the avoidance of doubt, this paragraph does not form part of the -public licenses. - -Creative Commons may be contacted at creativecommons.org. - diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/Physics/physics.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/Physics/physics.usda index fac8891b7991919ae38979eeda3b1484a572454a..285f11fb9d5af5a9bdd62e3db57eda592b3ff498 100644 --- a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/Physics/physics.usda +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/Physics/physics.usda @@ -14,6 +14,7 @@ over "Robotiq_2F_140" ( prepend apiSchemas = ["PhysicsArticulationRootAPI"] ) { + reorder nameChildren = ["robotiq_base_link", "left_outer_knuckle", "left_outer_finger", "left_inner_finger", "left_inner_knuckle", "right_outer_knuckle", "right_outer_finger", "right_inner_finger", "right_inner_knuckle"] over "left_outer_knuckle" ( prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] ) @@ -31,7 +32,6 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } @@ -55,13 +55,11 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } - def PhysicsFixedJoint "left_outer_finger_joint" ( - ) + def PhysicsFixedJoint "left_outer_finger_joint" { rel physics:body0 = rel physics:body1 = @@ -83,8 +81,7 @@ over "Robotiq_2F_140" ( float physics:mass = 0.04983438 quatf physics:principalAxes = (0.9941523, -0.00084205647, 0.00047910627, -0.1079824) - over "Fingertip_01" ( - ) + over "Fingertip_01" { over "Fingertip" { @@ -94,14 +91,12 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } } - over "Finger4_01" ( - ) + over "Finger4_01" { over "Finger4" { @@ -111,7 +106,6 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } @@ -136,7 +130,6 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } @@ -159,22 +152,20 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } - def PhysicsFixedJoint "right_outer_finger_joint" ( - ) + def PhysicsFixedJoint "right_outer_finger_joint" { - rel physics:body0 = - rel physics:body1 = + rel physics:body0 = + rel physics:body1 = float physics:breakForce = 3.4028235e38 float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (3.6062071e-12, 2.44103e-12, 2.5514872e-17) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, -2.2221605e-18, 2.2221605e-18, 2.1320418e-11) - quatf physics:localRot1 = (1, 0, 0, 0) + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (3.6062071e-12, 2.44103e-12, 2.5514872e-17) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, -2.2221605e-18, 2.2221605e-18, 2.1320418e-11) } } @@ -196,7 +187,6 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } @@ -211,8 +201,7 @@ over "Robotiq_2F_140" ( float physics:mass = 0.04983438 quatf physics:principalAxes = (0.9941524, -0.0007198045, 0.00064511795, 0.107981525) - over "Finger4_01" ( - ) + over "Finger4_01" { over "Finger4" { @@ -222,14 +211,12 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } } - over "Fingertip_01" ( - ) + over "Fingertip_01" { over "Fingertip" { @@ -239,7 +226,6 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } @@ -264,17 +250,28 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } } + def PhysicsFixedJoint "root_joint" + { + custom rel physics:body1 + prepend rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0.15) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (6.123234e-17, 0.70710677, 4.3297803e-17, 0.70710677) + quatf physics:localRot1 = (1, 0, 0, 0) + } + def PhysicsRevoluteJoint "finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { - float drive:angular:physics:damping = 0.001 + float drive:angular:physics:damping = 0.1 float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 3 float drive:angular:physics:targetPosition = 0 @@ -288,17 +285,19 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (6.123234e-17, 6.123234e-17, -1, 6.123234e-17) float physics:lowerLimit = 0 float physics:upperLimit = 45 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = inf + float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 0 - float drive:angular:physics:targetPosition = 45 - float drive:angular:physics:targetVelocity + float drive:angular:physics:targetPosition = 0 + float drive:angular:physics:targetVelocity = 0 uniform token drive:angular:physics:type = "force" uniform token physics:axis = "Z" custom rel physics:body0 = @@ -309,13 +308,16 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (6.123234e-17, 6.123234e-17, -1, 6.123234e-17) float physics:lowerLimit = 0 float physics:upperLimit = 75 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 0 uniform token physics:axis = "Z" custom rel physics:body0 @@ -329,13 +331,16 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (1.1823733e-15, 1, 1.2635337e-11, -4.8699635e-16) float physics:lowerLimit = -inf float physics:upperLimit = inf + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 0 uniform token physics:axis = "Z" custom rel physics:body0 @@ -349,14 +354,16 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (6.123234e-17, 0, 0, 1) float physics:lowerLimit = -inf float physics:upperLimit = inf + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "left_outer_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = inf + float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 0 float drive:angular:physics:targetPosition = 0 uniform token drive:angular:physics:type = "acceleration" @@ -372,14 +379,16 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (1, 0, 0, 0) float physics:lowerLimit = 0 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "right_outer_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = inf + float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 0 uniform token drive:angular:physics:type = "acceleration" uniform token physics:axis = "Z" @@ -394,16 +403,18 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (1, 0, 0, 0) float physics:lowerLimit = 0 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0.00001 float drive:angular:physics:maxForce = 1 float drive:angular:physics:stiffness = 0.002 - float drive:angular:physics:targetPosition = -45 + float drive:angular:physics:targetPosition = 0 uniform token physics:axis = "Z" custom rel physics:body0 = custom rel physics:body1 = @@ -414,16 +425,18 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (5.0532154e-16, -0.70710677, 0.70710677, 5.168029e-16) float physics:lowerLimit = -180 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0.00001 float drive:angular:physics:maxForce = 1 float drive:angular:physics:stiffness = 0.002 - float drive:angular:physics:targetPosition = -45 + float drive:angular:physics:targetPosition = 0 uniform token physics:axis = "Z" custom rel physics:body0 = custom rel physics:body1 = @@ -434,15 +447,17 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (0.70710677, 1.0999103e-15, -8.806161e-17, 0.70710677) float physics:lowerLimit = -180 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 token visibility = "invisible" } def PhysicsRevoluteJoint "right_inner_finger_pad_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = inf + float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 0 float drive:angular:physics:targetPosition = 0 uniform token physics:axis = "Z" @@ -455,14 +470,16 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (-3.8285688e-16, 1, 1.2578549e-11, 1.2142144e-15) float physics:lowerLimit = -45 float physics:upperLimit = 45 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "left_inner_finger_pad_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = inf + float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 0 float drive:angular:physics:targetPosition = 0 uniform token physics:axis = "Z" @@ -475,14 +492,27 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (-8.269461e-16, 1, 1.2612578e-11, 9.284436e-17) float physics:lowerLimit = -45 float physics:upperLimit = 45 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } over "robotiq_base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI"] + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] ) { - over "_F_Body_01" ( + point3f physics:centerOfMass = (-0.000242, -1.9814578e-13, 3.4604155e-17) + float3 physics:diagonalInertia = (0.00009301462, 0.0000882971, 0.000026081625) + float physics:mass = 0.04351246 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } ) + quatf physics:principalAxes = (0.9999719, -0.0004931656, 0.001501296, 0.007327927) + + over "_F_Body_01" { over "_F_Body" { @@ -492,7 +522,6 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } @@ -508,15 +537,3 @@ over "Robotiq_2F_140" ( } } -def PhysicsFixedJoint "FixedJoint" -{ - custom rel physics:body1 - prepend rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (6.123234e-17, 0.70710677, 4.3297803e-17, 0.70710677) - quatf physics:localRot1 = (1, 0, 0, 0) -} - diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/base.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/base.usda index 373ca6b766d1abd710eb0544c3cbb70b8c9da518..32a3daa489844399b6aaeffbe2e60ca6f268ade8 100644 --- a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/base.usda +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/base.usda @@ -15,6 +15,7 @@ def Xform "Robotiq_2F_140" { + reorder nameChildren = ["robotiq_base_link", "left_outer_knuckle", "left_outer_finger", "left_inner_finger", "left_inner_knuckle", "right_outer_knuckle", "right_outer_finger", "right_inner_finger", "right_inner_knuckle"] uniform token[] xformOpOrder = [] def Xform "left_outer_knuckle" ( @@ -23,7 +24,7 @@ def Xform "Robotiq_2F_140" { quatd xformOp:orient = (0.7071067811865986, 4.902349974783143e-16, 6.096901636101399e-16, -0.7071067811864964) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.00024200000540691987, 3.8771718906765497e-14, -7.789376034500418e-17) + double3 xformOp:translate = (-0.00024200000540691987, 3.8771718906765497e-14, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "Finger1" ( @@ -32,8 +33,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Finger1" ( - ) + over "Finger1" { } } @@ -45,7 +45,7 @@ def Xform "Robotiq_2F_140" { quatd xformOp:orient = (-0.7071067811714563, -5.000480753317283e-16, -4.919332292219785e-16, 0.7071067812016387) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.00024200000786084308, 3.655629602850554e-12, -7.789376033945457e-17) + double3 xformOp:translate = (-0.00024200000786084308, 3.655629602850554e-12, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "Finger2" ( @@ -54,8 +54,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Finger2" ( - ) + over "Finger2" { } } @@ -67,7 +66,7 @@ def Xform "Robotiq_2F_140" { quatd xformOp:orient = (1, 0, 0, 0) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) + double3 xformOp:translate = (0, 0, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "Fingertip_01" ( @@ -88,8 +87,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Fingertip" ( - ) + over "Fingertip" { } } @@ -109,8 +107,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Finger4" ( - ) + over "Finger4" { } } @@ -140,7 +137,7 @@ def Xform "Robotiq_2F_140" ) quatd xformOp:orient = (-0.707106781177613, -1.088488258189625e-16, -1.0880323113196409e-15, 0.7071067811954821) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.00024200000572815547, 1.4956748502000008e-12, 1.9950118327902315e-17) + double3 xformOp:translate = (-0.00024200000572815547, 1.4956748502000008e-12, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "Finger3" ( @@ -149,8 +146,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Finger3" ( - ) + over "Finger3" { } } @@ -162,7 +158,7 @@ def Xform "Robotiq_2F_140" { quatd xformOp:orient = (-1.048990684667789e-15, 0.7071067811865456, 0.7071067811865495, 1.2521301036646133e-16) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0002420000054116942, 4.67488709051141e-14, 8.909694415218707e-17) + double3 xformOp:translate = (-0.0002420000054116942, 4.67488709051141e-14, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "Finger1" ( @@ -171,8 +167,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Finger1" ( - ) + over "Finger1" { } } @@ -184,7 +179,7 @@ def Xform "Robotiq_2F_140" { quatd xformOp:orient = (-1.048990684667789e-15, 0.7071067811714697, 0.7071067812016253, 1.2207040080738798e-16) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0002420000078527243, -3.559458363235193e-12, 1.1461181571471843e-16) + double3 xformOp:translate = (-0.0002420000078527243, -3.559458363235193e-12, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "Finger2" ( @@ -193,8 +188,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Finger2" ( - ) + over "Finger2" { } } @@ -206,7 +200,7 @@ def Xform "Robotiq_2F_140" { quatd xformOp:orient = (1, 0, 0, 0) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) + double3 xformOp:translate = (0, 0, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "Finger4_01" ( @@ -223,8 +217,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Finger4" ( - ) + over "Finger4" { } } @@ -248,8 +241,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Fingertip" ( - ) + over "Fingertip" { } } @@ -266,7 +258,7 @@ def Xform "Robotiq_2F_140" ) quatd xformOp:orient = (-1.6081226496766364e-16, 0.7071067811776556, 0.7071067811954395, -2.667677072077055e-16) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0002420000057306303, -1.3997540118790104e-12, -1.370351929938986e-17) + double3 xformOp:translate = (-0.0002420000057306303, -1.3997540118790104e-12, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "Finger3" ( @@ -275,8 +267,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Finger3" ( - ) + over "Finger3" { } } @@ -288,7 +279,7 @@ def Xform "Robotiq_2F_140" { quatd xformOp:orient = (6.123233995736766e-17, 0.7071067811865476, 4.329780281177466e-17, 0.7071067811865475) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) + double3 xformOp:translate = (0, 0, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "_F_Body_01" ( @@ -306,19 +297,42 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "_F_Body" ( - ) + over "_F_Body" { } } } - def Xform "grasp_frame" + def Xform "grasp_frame" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) { + custom float gripper_maxOpening = 0.14 + custom float gripper_maxPayload = 2 + string isaac:Description = "Parallel-jaw grasp center" + token simready:attactment:socketType = "Gripper" quatd xformOp:orient = (1, 0, 0, 0) double3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (3.511745904322756e-17, -4.0113266590528364e-18, 0.1581549754612783) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0, 0.05)] + point3f[] points = [(0, 0, 0), (0, 0, 0.05)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(-0.015, 0, 0), (0.015, 0, 0)] + point3f[] points = [(-0.015, 0, 0), (0.015, 0, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } } } diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/instances.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/instances.usda index 9bde505408e0d0d19f397849f111a623f7e165ff..e98f39d146ee6eac35ffaa8684a9736e99bbcfc1 100644 --- a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/instances.usda +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/instances.usda @@ -16,16 +16,13 @@ def Scope "Instances" ) { over "Finger1" ( - apiSchemas = ["PhysicsMassAPI", "MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] ) { double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] custom rel material:binding prepend rel material:binding = - point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) - float physics:mass = 0 } def Scope "VisualMaterials" @@ -50,7 +47,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -62,14 +59,11 @@ def Scope "Instances" ) { over "Finger2" ( - apiSchemas = ["PhysicsMassAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] ) { double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] - point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) - float physics:mass = 0 over "Gray" ( apiSchemas = ["MaterialBindingAPI"] @@ -118,7 +112,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -143,7 +137,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -168,7 +162,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -180,14 +174,11 @@ def Scope "Instances" ) { over "Fingertip" ( - apiSchemas = ["PhysicsMassAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] ) { double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] - point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) - float physics:mass = 0 over "Gray_Nurse" ( apiSchemas = ["MaterialBindingAPI"] @@ -228,7 +219,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -253,7 +244,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -265,14 +256,11 @@ def Scope "Instances" ) { over "Finger4" ( - apiSchemas = ["PhysicsMassAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] ) { double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] - point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) - float physics:mass = 0 over "Periwinkle_Gray" ( apiSchemas = ["MaterialBindingAPI"] @@ -321,7 +309,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -346,7 +334,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -371,7 +359,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -383,16 +371,13 @@ def Scope "Instances" ) { over "Finger3" ( - apiSchemas = ["PhysicsMassAPI", "MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] ) { double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] custom rel material:binding prepend rel material:binding = - point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) - float physics:mass = 0 } def Scope "VisualMaterials" @@ -417,7 +402,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -429,14 +414,11 @@ def Scope "Instances" ) { over "_F_Body" ( - apiSchemas = ["PhysicsMassAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] ) { double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] - point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) - float physics:mass = 0 over "Mystic" ( apiSchemas = ["MaterialBindingAPI"] @@ -533,7 +515,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -558,7 +540,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -584,7 +566,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -609,7 +591,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -634,7 +616,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -659,7 +641,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -684,7 +666,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -709,7 +691,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -734,7 +716,7 @@ 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/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/materials.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/materials.usda index 7009565ac9ad1500f7ad63d42f37b5647363c828..6c86f1c6d7e59cb0191671c31fb21d756a209d93 100644 --- a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/materials.usda +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/materials.usda @@ -22,6 +22,7 @@ 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" ) @@ -109,9 +110,18 @@ 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 "Cod_Gray" @@ -125,6 +135,7 @@ 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" ) @@ -212,9 +223,18 @@ 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 "Periwinkle_Gray" @@ -228,6 +248,7 @@ 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" ) @@ -315,9 +336,18 @@ 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 "Geyser" @@ -331,6 +361,7 @@ 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" ) @@ -418,9 +449,18 @@ 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" @@ -434,6 +474,7 @@ 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" ) @@ -471,9 +512,18 @@ 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 "Mystic" @@ -487,6 +537,7 @@ 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" ) @@ -574,9 +625,18 @@ 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 "San_Marino" @@ -590,6 +650,7 @@ 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" ) @@ -678,9 +739,18 @@ 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 "Gravel" @@ -694,6 +764,7 @@ 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" ) @@ -731,9 +802,18 @@ 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 "Gallery" @@ -747,6 +827,7 @@ 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" ) @@ -834,9 +915,18 @@ 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 "Chateau_Green" @@ -850,6 +940,7 @@ 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" ) @@ -887,9 +978,18 @@ 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 "White" @@ -903,6 +1003,7 @@ 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" ) @@ -940,9 +1041,18 @@ 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 "Pumice" @@ -956,6 +1066,7 @@ 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" ) @@ -1043,9 +1154,18 @@ 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/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/robot.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/robot.usda index 2360598387f688cd1b5b8ea288df1db1998c0fff..1e164ddb71ae2d88964893672f53927a3d17cb6a 100644 --- a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/robot.usda +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/payloads/robot.usda @@ -31,6 +31,7 @@ over "Robotiq_2F_140" ( displayName = "Robot Joints" ) prepend rel isaac:physics:robotJoints = [ + , , , , @@ -168,6 +169,12 @@ over "Robotiq_2F_140" ( } } + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + over "finger_joint" ( prepend apiSchemas = ["IsaacJointAPI"] ) diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/runnables/physics/mujoco.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..01448f2d2efff5fdaff580e00a86e25d78348125 --- /dev/null +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/runnables/physics/mujoco.usda @@ -0,0 +1,258 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_140" +) + +def "Robotiq_2F_140" +{ + over "left_outer_knuckle" + { + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_outer_finger" + { + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_inner_finger" + { + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "left_inner_knuckle" + { + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_knuckle" + { + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_finger" + { + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_inner_finger" + { + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "right_inner_knuckle" + { + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "robotiq_base_link" + { + over "_F_Body_01" + { + over "_F_Body" + { + over "_F_Body" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "grasp_frame" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "finger_joint" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + def "MuJoCoActuators" + { + def MjcActuator "act_Robotiq_2F_140_finger_joint" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -171.88733853924697, -0.05729578223448582] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 26 + double mjc:forceRange:min = -26 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_outer_finger_joint" ( + active = false + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "right_outer_finger_joint" ( + active = false + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_pad_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_inner_finger_pad_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } +} + diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/runnables/physics/newton.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..e97c5e970d23de33580ab61f8c9d9bcdab0c1307 --- /dev/null +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/runnables/physics/newton.usda @@ -0,0 +1,279 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_140" +) + +over "Robotiq_2F_140" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] +) +{ + bool newton:selfCollisionEnabled = 0 + + over "left_outer_knuckle" + { + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_outer_finger" + { + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_inner_finger" + { + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "left_inner_knuckle" + { + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_knuckle" + { + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_finger" + { + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_inner_finger" + { + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "right_inner_knuckle" + { + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "robotiq_base_link" + { + over "_F_Body_01" + { + over "_F_Body" + { + over "_F_Body" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 7.5 + float newton:armature = 0.1 + float newton:damping = 0.25 + float newton:velocityLimit = 130 + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 130 + } + + over "left_outer_finger_joint" ( + active = false + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float newton:velocityLimit = 1000000 + } + + over "right_outer_finger_joint" ( + active = false + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float newton:velocityLimit = 1000000 + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 1000000 + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 1000000 + } + + over "right_inner_finger_pad_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 1000000 + } + + over "left_inner_finger_pad_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 1000000 + } + + over "left_inner_knuckle_joint" ( + active = false + ) + { + } + + over "right_inner_knuckle_joint" ( + active = false + ) + { + } +} + diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/runnables/physics/physx.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/runnables/physics/physx.usda index b213354c125740de4e719a61ea47a5e09b4b4efb..d03b2f4dfcc35081d2ac18a36861e9f6ccaeaf1f 100644 --- a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/runnables/physics/physx.usda +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/runnables/physics/physx.usda @@ -76,8 +76,7 @@ over "Robotiq_2F_140" ( bool physxRigidBody:enableCCD = 1 float physxRigidBody:sleepThreshold = 0 - over "Fingertip_01" ( - ) + over "Fingertip_01" { over "Fingertip" { @@ -90,8 +89,7 @@ over "Robotiq_2F_140" ( } } - over "Finger4_01" ( - ) + over "Finger4_01" { over "Finger4" { @@ -131,14 +129,14 @@ over "Robotiq_2F_140" ( over "right_outer_finger_joint" { - rel physics:body0 = - rel physics:body1 = + rel physics:body0 = + rel physics:body1 = float physics:breakForce = 3.4028235e38 float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (3.6062071e-12, 2.44103e-12, 2.5514872e-17) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, -2.2221605e-18, 2.2221605e-18, 2.1320418e-11) - quatf physics:localRot1 = (1, 0, 0, 0) + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (3.6062071e-12, 2.44103e-12, 2.5514872e-17) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, -2.2221605e-18, 2.2221605e-18, 2.1320418e-11) } over "Finger1" @@ -180,8 +178,7 @@ over "Robotiq_2F_140" ( bool physxRigidBody:disableGravity = 1 bool physxRigidBody:enableCCD = 1 - over "Finger4_01" ( - ) + over "Finger4_01" { over "Finger4" { @@ -194,8 +191,7 @@ over "Robotiq_2F_140" ( } } - over "Fingertip_01" ( - ) + over "Fingertip_01" { over "Fingertip" { @@ -252,6 +248,8 @@ over "Robotiq_2F_140" ( prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 bool[] isaac:actuator ( displayName = "Actuator" ) @@ -264,7 +262,8 @@ over "Robotiq_2F_140" ( float physxJoint:maxJointVelocity = 130 float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 1000 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -351,6 +350,8 @@ over "Robotiq_2F_140" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 bool[] isaac:actuator ( displayName = "Actuator" ) @@ -363,9 +364,10 @@ over "Robotiq_2F_140" ( float physics:lowerLimit = -180 float physics:upperLimit = 180 float physxJoint:maxJointVelocity = 1000000 - float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -376,6 +378,8 @@ over "Robotiq_2F_140" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 bool[] isaac:actuator ( displayName = "Actuator" ) @@ -388,7 +392,10 @@ over "Robotiq_2F_140" ( float physics:lowerLimit = -180 float physics:upperLimit = 180 float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -399,6 +406,8 @@ over "Robotiq_2F_140" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 bool[] isaac:actuator ( displayName = "Actuator" ) @@ -409,7 +418,10 @@ over "Robotiq_2F_140" ( displayName = "Dof Offset Op Order" ) float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -420,6 +432,8 @@ over "Robotiq_2F_140" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 bool[] isaac:actuator ( displayName = "Actuator" ) @@ -430,7 +444,10 @@ over "Robotiq_2F_140" ( displayName = "Dof Offset Op Order" ) float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -442,8 +459,7 @@ over "Robotiq_2F_140" ( { uniform token physics:approximation = "convexHull" - over "_F_Body_01" ( - ) + over "_F_Body_01" { over "_F_Body" { diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140.usda new file mode 100644 index 0000000000000000000000000000000000000000..8caec7d6f759d94ece5fad3abcab91857ef60c9a --- /dev/null +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140.usda @@ -0,0 +1,1890 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_140" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_140" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_140" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-11-02T07:57:11.084680+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 = 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/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 = 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + 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 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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 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 = 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/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_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/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + 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 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + dictionary "2026-11-01" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.21090108, 0.21130733, 0.075) + string asset_license = "CC-BY-4.0" + string asset_name = "Robotiq_2F_140" + string asset_type = "robot" + string author = "Robotiq" + string category = "robot end effector" + double mass = 0.45186075009405613 + string qcode = "Q1340324" + int rigid_body_count = 9 + string source_file = "Robotiq/2F-140/Robotiq_2F_140.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "Robotiq_2F_140" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +def Xform "Robotiq_2F_140" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + } + prepend variantSets = ["PhysX", "Newton", "MuJoCo"] +) +{ + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "robotiq_base_link" + { + over "_F_Body_01" + { + over "_F_Body" ( + instanceable = false + ) + { + over "_F_Body" + { + float3[] extent = [(-0.04244335, -0.0033564342, -0.0375), (0.042443354, 0.09, 0.0375)] + } + } + } + } + + over "left_outer_knuckle" + { + over "Finger1" ( + instanceable = false + ) + { + over "Finger1" + { + float3[] extent = [(-0.06801494, 0.044373713, -0.0047), (-0.03498509, 0.064530514, 0.0047)] + } + } + } + + over "left_outer_finger" + { + over "Finger2" ( + instanceable = false + ) + { + over "Finger2" + { + float3[] extent = [(-0.105653666, 0.04403517, -0.0136), (-0.047659468, 0.13526823, 0.0136)] + } + } + } + + over "left_inner_finger" + { + over "Fingertip_01" + { + over "Fingertip" ( + instanceable = false + ) + { + over "Fingertip" + { + float3[] extent = [(-0.091355085, 0.14228664, -0.011), (-0.072197594, 0.20778665, 0.011)] + } + } + } + + over "Finger4_01" + { + over "Finger4" ( + instanceable = false + ) + { + over "Finger4" + { + float3[] extent = [(-0.10343339, 0.123293996, -0.0135), (-0.07355508, 0.15128665, 0.0135)] + } + } + } + } + + over "left_inner_knuckle" + { + over "Finger3" ( + instanceable = false + ) + { + over "Finger3" + { + float3[] extent = [(-0.085554935, 0.055458643, -0.0175), (-0.0067001586, 0.141748, 0.0175)] + } + } + } + + over "right_outer_knuckle" + { + over "Finger1" ( + instanceable = false + ) + { + over "Finger1" + { + float3[] extent = [(-0.06801494, 0.044373713, -0.0047), (-0.03498509, 0.064530514, 0.0047)] + } + } + } + + over "right_outer_finger" + { + over "Finger2" ( + instanceable = false + ) + { + over "Finger2" + { + float3[] extent = [(-0.105653666, 0.04403517, -0.0136), (-0.047659468, 0.13526823, 0.0136)] + } + } + } + + over "right_inner_finger" + { + over "Finger4_01" + { + over "Finger4" ( + instanceable = false + ) + { + over "Finger4" + { + float3[] extent = [(-0.10343339, 0.123293996, -0.0135), (-0.07355508, 0.15128665, 0.0135)] + } + } + } + + over "Fingertip_01" + { + over "Fingertip" ( + instanceable = false + ) + { + over "Fingertip" + { + float3[] extent = [(-0.091355085, 0.14228664, -0.011), (-0.072197594, 0.20778665, 0.011)] + } + } + } + } + + over "right_inner_knuckle" + { + over "Finger3" ( + instanceable = false + ) + { + over "Finger3" + { + float3[] extent = [(-0.085554935, 0.055458643, -0.0175), (-0.0067001586, 0.141748, 0.0175)] + } + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/.simready/validation.json b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/.simready/validation.json index a493ceef6c3513ea6320d74665d6a2cfd57e5614..012379ff1b4357ef35cf194d5381f8f1ef3342eb 100644 --- a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/.simready/validation.json +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/.simready/validation.json @@ -1,79 +1,1241 @@ { "SimReady_Metadata": { + "runtime_testing": { + "tested_features": { + "2026-11-02T07:57:11.084680+00:00": { + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "contract_id": "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1", + "display_name": "Minimal Placeable Visual", + "engines": { + "isaac_sim": { + "passed": true, + "status": "pass", + "tests": { + "culling_xz": { + "name": "culling_xz", + "passed": true, + "provider": "simready.foundation.tier_core.runtime_tests", + "status": "pass", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py", + "version": "2.0.2" + }, + "light_response": { + "name": "light_response", + "passed": true, + "provider": "simready.foundation.tier_core.runtime_tests", + "status": "pass", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py", + "version": "2.0.3" + }, + "normals_xz": { + "name": "normals_xz", + "passed": true, + "provider": "simready.foundation.tier_core.runtime_tests", + "status": "pass", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py", + "version": "2.0.3" + }, + "pivot": { + "name": "pivot", + "passed": true, + "provider": "simready.foundation.tier_core.runtime_tests", + "status": "pass", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py", + "version": "2.0.3" + }, + "presence": { + "name": "presence", + "passed": true, + "provider": "simready.foundation.tier_core.runtime_tests", + "status": "pass", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py", + "version": "2.0.1" + } + } + }, + "isaac_sim_newton": { + "passed": true, + "status": "pass", + "tests": { + "culling_xz": { + "name": "culling_xz", + "passed": true, + "provider": "simready.foundation.tier_core.runtime_tests", + "status": "pass", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py", + "version": "2.0.2" + }, + "light_response": { + "name": "light_response", + "passed": true, + "provider": "simready.foundation.tier_core.runtime_tests", + "status": "pass", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py", + "version": "2.0.3" + }, + "normals_xz": { + "name": "normals_xz", + "passed": true, + "provider": "simready.foundation.tier_core.runtime_tests", + "status": "pass", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py", + "version": "2.0.3" + }, + "pivot": { + "name": "pivot", + "passed": true, + "provider": 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"dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, 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requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "CAP024_BaseArticulation.MuJoCo.0-1-0": { @@ -85,8 +1247,7 @@ "CAP024_BaseArticulation.Newton.0-1-0": { "blocking_failure": false, "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "optional requirements": "['com.nvidia.simready.NEWTON.BA.001']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP024_BaseArticulation.OpenUSD.0-1-0": { @@ -102,12 +1263,9 @@ "version": "0-1-0" }, "CAP028_Gripper.MuJoCo.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { @@ -117,11 +1275,9 @@ "version": "0-1-0" }, "CAP033_SimReadyPackage.OpenUSD.0-4-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", - "failing requirements": "['com.nvidia.simready.SR.004']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.SR.004\": [\"Required metadata fields are missing: mass. Fields may be authored in root-layer customLayerData (including SimReady_Metadata) and/or the same-directory sidecar JSON.\"]}", + "passed": true, "version": "0-4-0" }, "CAP100_IsaacComposition.Isaac.0-3-0": { @@ -137,79 +1293,57 @@ "version": "1-0-1" }, "FET003_RigidBody.Newton.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET003_RigidBody.OpenUSD.0-2-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-2-0" }, "FET003_RigidBody.PhysX.0-4-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-4-0" }, "FET004_Multibody.Newton.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET003_RigidBody.Newton.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET004_Multibody.OpenUSD.0-2-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-2-0" }, "FET004_Multibody.PhysX.0-4-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-4-0" }, "FET004_Multibody.RobotNewton.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET004_Multibody.RobotPhysX.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "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": { @@ -221,78 +1355,285 @@ "FET006_Materials.Openpbr.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.PBR.001']", - "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.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET022_DrivenJoints.Isaac.0-2-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-2-0" }, "FET022_DrivenJoints.Newton.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.NEWTON.DJ.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET022_DrivenJoints.OpenUSD.0-2-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-2-0" }, "FET022_DrivenJoints.PhysX.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET022_DrivenJoints.PhysX.0-2-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET004_Multibody.PhysX.0-4-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-2-0" }, "FET028_Gripper.Isaac.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "2026-11-01": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, "version": "0-1-0" }, "FET028_Gripper.OpenUSD.0-1-0": { diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/.thumbs/256x256/Robotiq_2F_85.usda.png b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/.thumbs/256x256/simready_Robotiq_2F-85.usda.png similarity index 100% rename from universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/.thumbs/256x256/Robotiq_2F_85.usda.png rename to universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/.thumbs/256x256/simready_Robotiq_2F-85.usda.png diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/.thumbs/Robotiq_2F_85.thumb.usd b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/.thumbs/Robotiq_2F_85.thumb.usd deleted file mode 100644 index 7781fd3af0b02fe2e7405c8dbbde88ad51a227f7..0000000000000000000000000000000000000000 Binary files a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/.thumbs/Robotiq_2F_85.thumb.usd and /dev/null differ diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/Robotiq_2F_85.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/Robotiq_2F_85.usda deleted file mode 100644 index a11a4609cce6d04842cf835a220dbaa7e1fe165e..0000000000000000000000000000000000000000 --- a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/Robotiq_2F_85.usda +++ /dev/null @@ -1,427 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/Robotiq_2F_85" - string variantSetName = "PhysX" - } - } - } - dictionary validation = { - string profile = "Robot-Gripper" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-20" = { - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NP.005', 'com.nvidia.simready.RV.007']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NP.005', 'com.nvidia.simready.RV.004']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.NP.005']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NP.005']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.003', 'com.nvidia.simready.RC.005', 'com.nvidia.simready.RC.009']" - bool passed = 0 - string version = "0-2-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.BA.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 1 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.SR.004']" - bool passed = 0 - string requirement_messages = '{"com.nvidia.simready.SR.004": ["Required metadata fields are missing: mass. Fields may be authored in root-layer customLayerData (including SimReady_Metadata) and/or the same-directory sidecar JSON."]}' - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 1 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 1 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - 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 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - 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']" - bool passed = 0 - 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 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 1 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.NEWTON.DJ.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 1 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 1 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-2-0" - } - dictionary "FET028_Gripper.Isaac.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET028_Gripper.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - } - } - } - } - float3 asset_extents = (0.075, 0.15448326, 0.15177661) - string asset_license = "CC-BY-4.0" - string asset_name = "Robotiq_2F_85" - string asset_type = "robot" - string author = "Robotiq" - string category = "robot end effector" - string qcode = "Q1340324" - int rigid_body_count = 9 - string source_file = "Robotiq/2F-85/Robotiq_2F_85.usda" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "Robotiq_2F_85" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Xform "Robotiq_2F_85" ( - kind = "component" - prepend references = [ - @./payloads/Physics/Physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string PhysX = "Disabled" - } - prepend variantSets = "PhysX" -) -{ - string isaac:namespace ( - displayName = "Namespace" - doc = "Namespace of the prim in Isaac Sim" - ) - - over "base_link" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "left_outer_knuckle" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "left_outer_finger" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "left_inner_knuckle" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "right_outer_knuckle" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "right_outer_finger" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "right_inner_knuckle" - { - over "visuals" ( - instanceable = false - ) - { - } - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } -} - diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/license.txt b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/license.txt deleted file mode 100644 index da6ab6cc8f333d7e89a99812866df8f24374d47c..0000000000000000000000000000000000000000 --- a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/license.txt +++ /dev/null @@ -1,396 +0,0 @@ -Attribution 4.0 International - 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For -the avoidance of doubt, this paragraph does not form part of the -public licenses. - -Creative Commons may be contacted at creativecommons.org. - diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/Physics/Physics.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/Physics/Physics.usda index 27be9d090672dee417b4b7e0d9f5bdcc7a1e26b9..36bcb3538e9862bbd599b1ab90bd595a23d99a8f 100644 --- a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/Physics/Physics.usda +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/Physics/Physics.usda @@ -14,9 +14,18 @@ over "Robotiq_2F_85" ( ) { over "base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI"] + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] ) { + float physics:mass = 0.043512285 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + over "visuals" { over "Defeatured_2F_85_PAD_OPEN_basestep_01" @@ -35,9 +44,18 @@ over "Robotiq_2F_85" ( } over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI"] + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] ) { + float physics:mass = 0.0033728504 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + over "visuals" { over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" @@ -151,9 +169,18 @@ over "Robotiq_2F_85" ( } over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI"] + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] ) { + float physics:mass = 0.0033728504 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + over "visuals" { over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" @@ -268,11 +295,16 @@ over "Robotiq_2F_85" ( over "Joints" { + def PhysicsFixedJoint "root_joint" + { + custom rel physics:body1 = + } + def PhysicsRevoluteJoint "finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { - float drive:angular:physics:damping = 0.0002 + float drive:angular:physics:damping = 0.1 float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 3 float drive:angular:physics:targetPosition = 0 @@ -286,9 +318,12 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5) float physics:lowerLimit = 0 float physics:upperLimit = 47 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 @@ -303,6 +338,8 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, -0.5, 0.5, -0.5) float physics:lowerLimit = 0 float physics:upperLimit = 47 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsFixedJoint "right_outer_finger_joint" @@ -316,6 +353,7 @@ over "Robotiq_2F_85" ( } def PhysicsRevoluteJoint "right_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 @@ -331,9 +369,12 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5) float physics:lowerLimit = -180 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 @@ -348,6 +389,8 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5) float physics:lowerLimit = -180 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsFixedJoint "left_outer_finger_joint" @@ -361,6 +404,7 @@ over "Robotiq_2F_85" ( } def PhysicsRevoluteJoint "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 @@ -374,9 +418,12 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) float physics:lowerLimit = -180 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "left_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 @@ -392,7 +439,17 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, -0.5, -0.5, 0.5) float physics:lowerLimit = -180 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 4 + float physics:staticFriction = 4 + } } diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/base.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/base.usda index d976d2af219dda52a4914539ad1355d910ed521f..abadb5fc6ec7b376191850d4aacea6a510dd1800 100644 --- a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/base.usda +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/base.usda @@ -37,6 +37,36 @@ def Xform "Robotiq_2F_85" ( double3 xformOp:translate = (0, 0, 0) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.085 + custom float gripper_maxPayload = 0.5 + string isaac:Description = "Parallel-jaw grasp center" + token simready:attactment:socketType = "Gripper" + double3 xformOp:translate = (0, 0, 0.13) + uniform token[] xformOpOrder = ["xformOp:translate"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0, 0.05)] + point3f[] points = [(0, 0, 0), (0, 0, 0.05)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(-0.015, 0, 0), (0.015, 0, 0)] + point3f[] points = [(-0.015, 0, 0), (0.015, 0, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } } def Xform "left_outer_knuckle" ( @@ -117,8 +147,13 @@ def Xform "Robotiq_2F_85" ( } } - def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" ( + prepend apiSchemas = ["MaterialBindingAPI"] + ) { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) quatd xformOp:orient = (1, 0, 0, 0) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0, 0, 0) @@ -234,8 +269,13 @@ def Xform "Robotiq_2F_85" ( } } - def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" ( + prepend apiSchemas = ["MaterialBindingAPI"] + ) { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) quatd xformOp:orient = (1, 0, 0, 0) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0, 0, 0) @@ -276,6 +316,12 @@ def Xform "Robotiq_2F_85" ( def Scope "Joints" { } + + def Material "fingertip_material" ( + active = true + ) + { + } } def Scope "VisualMaterials" diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/instances.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/instances.usda index 3e83bb11976818a1fa3b27e3ca97dd6e5dcf0227..a0c512120a324db4793a207673ba8b6cbbfa3120 100644 --- a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/instances.usda +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/instances.usda @@ -158,7 +158,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -183,7 +183,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -208,7 +208,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -233,7 +233,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -258,7 +258,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -283,7 +283,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -308,7 +308,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -333,7 +333,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -358,7 +358,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -383,7 +383,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -408,7 +408,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -473,7 +473,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -606,7 +606,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -631,7 +631,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -796,7 +796,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -821,7 +821,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -846,7 +846,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -871,7 +871,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -896,7 +896,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -956,7 +956,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -981,7 +981,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1071,7 +1071,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1096,7 +1096,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1121,7 +1121,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1146,7 +1146,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1171,7 +1171,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1231,7 +1231,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1256,7 +1256,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1321,7 +1321,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/materials.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/materials.usda index fde12744678d1c04d1598e0dfa0a92974c14af0b..55a6257f4ef4cabd532e99baab4b462bc3ada3ce 100644 --- a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/materials.usda +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/materials.usda @@ -17,21 +17,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -64,9 +65,18 @@ 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 "Stack" @@ -76,21 +86,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -123,9 +134,18 @@ 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 "Chateau_Green" @@ -135,21 +155,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -182,9 +203,18 @@ 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 "Gravel" @@ -194,21 +224,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -241,9 +272,18 @@ 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 "Silver_Rust" @@ -253,21 +293,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -300,9 +341,18 @@ 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 "Gallery" @@ -312,21 +362,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -359,9 +410,18 @@ 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 "Blue_Ribbon" @@ -371,21 +431,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -418,9 +479,18 @@ 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 "Dawn" @@ -430,21 +500,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -477,9 +548,18 @@ 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 "White" @@ -489,21 +569,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -536,9 +617,18 @@ 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" @@ -548,21 +638,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -595,9 +686,18 @@ 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 "Mystic" @@ -607,21 +707,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -654,9 +755,18 @@ 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 "Pumice" @@ -666,21 +776,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -713,9 +824,18 @@ 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 "Periwinkle_Gray" @@ -725,21 +845,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -772,9 +893,18 @@ 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 "Celeste" @@ -784,21 +914,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -831,9 +962,18 @@ 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 "Rangoon_Green" @@ -843,21 +983,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -890,9 +1031,18 @@ 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 "Nobel" @@ -902,21 +1052,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -949,9 +1100,18 @@ 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/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/robot.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/robot.usda index 41928119a41b6122d2c758adf26790a57491275f..5b3d590614d696afff959643761ef6f6aab600e3 100644 --- a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/robot.usda +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/payloads/robot.usda @@ -13,7 +13,8 @@ over "Robotiq_2F_85" ( displayName = "Namespace" doc = "Namespace of the prim in Isaac Sim" ) - rel isaac:physics:robotJoints = [ + prepend rel isaac:physics:robotJoints = [ + , , , , @@ -21,7 +22,7 @@ over "Robotiq_2F_85" ( , , ] - rel isaac:physics:robotLinks = [ + prepend rel isaac:physics:robotLinks = [ , , , @@ -94,6 +95,12 @@ over "Robotiq_2F_85" ( over "Joints" { + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + over "finger_joint" ( prepend apiSchemas = ["IsaacJointAPI"] ) diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/runnables/physics/mujoco.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..d8df34088498d1069d387805eb65228103656a5b --- /dev/null +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/runnables/physics/mujoco.usda @@ -0,0 +1,288 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_85" +) + +def "Robotiq_2F_85" +{ + over "base_link" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_basestep_01" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "left_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "Joints" + { + over "finger_joint" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_Robotiq_2F_85_Joints_finger_joint" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -171.88733853924697, -0.011459155613133837] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 26 + double mjc:forceRange:min = -26 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/runnables/physics/newton.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..511c5cf904bf2fe85e0d8c8b1646f5e2c0cf73e5 --- /dev/null +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/runnables/physics/newton.usda @@ -0,0 +1,299 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_85" +) + +over "Robotiq_2F_85" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] +) +{ + bool newton:selfCollisionEnabled = 0 + + over "base_link" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_basestep_01" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "Joints" + { + over "finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 6.66 + float newton:armature = 0.1 + float newton:damping = 0.222 + float newton:velocityLimit = 146.46 + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + } +} + diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/runnables/physics/physx.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/runnables/physics/physx.usda index b6caa7ab4235b3b152b3932eda9cb80a22c66dbb..1f77346f2d3436d058d5f842fc3f8829d5782538 100644 --- a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/runnables/physics/physx.usda +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/runnables/physics/physx.usda @@ -22,7 +22,7 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { - float physxJoint:armature = 0.0001 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 146.46 float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -32,11 +32,14 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] ) { - float physxJoint:armature = 0.0001 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 10000 - float physxMimicJoint:rotZ:dampingRatio = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 float physxMimicJoint:rotZ:gearing = -1 - float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 rel physxMimicJoint:rotZ:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -46,10 +49,14 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 10000 - float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -59,10 +66,14 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 10000 - float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -72,10 +83,14 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 10000 - float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -85,10 +100,14 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 10000 - float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -101,8 +120,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_basestep_01" { - over "Defeatured_2F_85_PAD_OPEN_basestep" ( - ) + over "Defeatured_2F_85_PAD_OPEN_basestep" { over "Defeatured_2F_85_PAD_OPEN_basestep" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -121,8 +139,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" { - over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_Finger1step" { over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -141,8 +158,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" { - over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_Finger1step" { over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -161,8 +177,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_finger2step_01" { - over "Defeatured_2F_85_PAD_OPEN_finger2step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_finger2step" { over "Defeatured_2F_85_PAD_OPEN_finger2step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -181,8 +196,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_finger2step_01" { - over "Defeatured_2F_85_PAD_OPEN_finger2step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_finger2step" { over "Defeatured_2F_85_PAD_OPEN_finger2step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -265,8 +279,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_finger3step_01" { - over "Defeatured_2F_85_PAD_OPEN_finger3step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_finger3step" { over "Defeatured_2F_85_PAD_OPEN_finger3step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -285,8 +298,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_finger3step_01" { - over "Defeatured_2F_85_PAD_OPEN_finger3step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_finger3step" { over "Defeatured_2F_85_PAD_OPEN_finger3step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -298,5 +310,14 @@ over "Robotiq_2F_85" ( } } } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + bool physxMaterial:compliantContactAccelerationSpring = 0 + float physxMaterial:compliantContactStiffness = 0 + uniform token physxMaterial:frictionCombineMode = "max" + } } diff --git a/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85.usda b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85.usda new file mode 100644 index 0000000000000000000000000000000000000000..369e957604653fb46a895411410e5719e9449795 --- /dev/null +++ b/universalrobots_ur10e/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85.usda @@ -0,0 +1,1804 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_85" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_85" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_85" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-11-02T07:57:11.084680+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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + 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 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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 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 = 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/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_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/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + 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 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + dictionary "2026-11-01" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.075, 0.15448326, 0.15177661) + string asset_license = "CC-BY-4.0" + string asset_name = "Robotiq_2F_85" + string asset_type = "robot" + string author = "Robotiq" + string category = "robot end effector" + double mass = 0.2617397094145417 + string qcode = "Q1340324" + int rigid_body_count = 9 + string source_file = "Robotiq/2F-85/Robotiq_2F_85.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "Robotiq_2F_85" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Xform "Robotiq_2F_85" ( + kind = "component" + prepend references = [ + @./payloads/Physics/Physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + } + prepend variantSets = ["PhysX", "Newton", "MuJoCo"] +) +{ + string isaac:namespace ( + displayName = "Namespace" + doc = "Namespace of the prim in Isaac Sim" + ) + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "base_link" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "left_outer_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "left_outer_finger" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "left_inner_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "right_outer_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "right_outer_finger" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "right_inner_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/universalrobots_ur10e/payloads/Gripper/Robotiq_2F_140.usda b/universalrobots_ur10e/payloads/Gripper/Robotiq_2F_140.usda index d0f0fe57b4e39fb0ca7675b292687814415e678d..b7d2850442ff35a682c03382235a800e3c7702ed 100644 --- a/universalrobots_ur10e/payloads/Gripper/Robotiq_2F_140.usda +++ b/universalrobots_ur10e/payloads/Gripper/Robotiq_2F_140.usda @@ -9,7 +9,7 @@ def Xform "ur10e" { def "Robotiq_2F_140" ( delete apiSchemas = ["PhysicsArticulationRootAPI"] - prepend payload = @../../dependencies/simready_Robotiq_2F-140/Robotiq_2F_140.usda@ + prepend payload = @../../dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140.usda@ ) { float3 xformOp:rotateZYX = (-1.2722217e-14, 1.2722219e-14, 89.99999) @@ -19,6 +19,8 @@ def Xform "ur10e" over "robotiq_base_link" { + double3 xformOp:translate = (0, 0, 0) + def PhysicsFixedJoint "AssemblerFixedJoint" { rel physics:body0 = @@ -30,6 +32,12 @@ def Xform "ur10e" } } + over "root_joint" ( + active = false + ) + { + } + over "finger_joint" { } @@ -72,34 +80,42 @@ def Xform "ur10e" over "left_outer_knuckle" { + double3 xformOp:translate = (-0.00024200000540691987, 3.8771718906765497e-14, -7.789376034500418e-17) } over "left_outer_finger" { + double3 xformOp:translate = (-0.00024200000786084308, 3.655629602850554e-12, -7.789376033945457e-17) } over "left_inner_finger" { + double3 xformOp:translate = (0, 0, 0) } over "left_inner_knuckle" { + double3 xformOp:translate = (-0.00024200000572815547, 1.4956748502000008e-12, 1.9950118327902315e-17) } over "right_outer_knuckle" { + double3 xformOp:translate = (-0.0002420000054116942, 4.67488709051141e-14, 8.909694415218707e-17) } over "right_outer_finger" { + double3 xformOp:translate = (-0.0002420000078527243, -3.559458363235193e-12, 1.1461181571471843e-16) } over "right_inner_finger" { + double3 xformOp:translate = (0, 0, 0) } over "right_inner_knuckle" { + double3 xformOp:translate = (-0.0002420000057306303, -1.3997540118790104e-12, -1.370351929938986e-17) } } diff --git a/universalrobots_ur10e/payloads/Gripper/Robotiq_2F_85.usda b/universalrobots_ur10e/payloads/Gripper/Robotiq_2F_85.usda index 6ad886a46c6ace841d4c3bfc9ab51b2e550eef93..a67cdcac43137dae485898a6b55d984071e0b5c9 100644 --- a/universalrobots_ur10e/payloads/Gripper/Robotiq_2F_85.usda +++ b/universalrobots_ur10e/payloads/Gripper/Robotiq_2F_85.usda @@ -9,7 +9,7 @@ def Xform "ur10e" { def "Robotiq_2F_85" ( delete apiSchemas = ["PhysicsArticulationRootAPI"] - prepend payload = @../../dependencies/simready_Robotiq_2F-85/Robotiq_2F_85.usda@ + prepend payload = @../../dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85.usda@ ) { float3 xformOp:rotateZYX = (-90.00001, 2.2263883e-14, -90) @@ -32,6 +32,12 @@ def Xform "ur10e" over "Joints" { + over "root_joint" ( + active = false + ) + { + } + over "finger_joint" { } diff --git a/universalrobots_ur10e/payloads/materials.usda b/universalrobots_ur10e/payloads/materials.usda index 92dfc6457e7c6a985e8bbec143c28b1fff596cb6..7c9e6fbcd40f48e0da9c2d3c6c3bc4aef0796496 100644 --- a/universalrobots_ur10e/payloads/materials.usda +++ b/universalrobots_ur10e/payloads/materials.usda @@ -22,7 +22,7 @@ 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" ) @@ -116,7 +116,7 @@ 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) @@ -137,7 +137,7 @@ 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" ) @@ -231,7 +231,7 @@ 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) @@ -249,8 +249,8 @@ 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" ) @@ -258,7 +258,7 @@ def Scope "Materials" displayGroup = "Outputs" ) - def Shader "AgentfixMdlSurface" + def Shader "simready_mdl_surfaceshader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ @@ -267,7 +267,7 @@ 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) @@ -288,7 +288,7 @@ 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" ) @@ -382,7 +382,7 @@ 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) @@ -403,7 +403,7 @@ 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" ) @@ -445,7 +445,7 @@ 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_ur10e/ur10e.usda b/universalrobots_ur10e/ur10e.usda index 98d670959f4001319765c11febf9d1d19d03db9d..58c1d2ccb68243b7c1fbda9d87699cb9e4e5a83b 100644 --- a/universalrobots_ur10e/ur10e.usda +++ b/universalrobots_ur10e/ur10e.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_ur12e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur12e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index e97e21961c1606783210a1a849012d20386ea9f7..ba84436f72e5dc1b2810695127ab9c7482228761 100644 --- a/universalrobots_ur12e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur12e/.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": "2026-10-26T18:21:00", + "timestamp": "2026-11-02T23:12:43", "assets": [ { "asset": "ur12e.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": "730ace195438d4d4d6a36f332810019cc131c0c4a35361718534e050995f0e51" + "sha256": "f338a21f353afeed4e162730d26b4195534531a042de331dab3035d7bd6b63c9" } } diff --git a/universalrobots_ur12e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/universalrobots_ur12e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..1ff89a38b79b12f94bd85f08b3a1aeb27774737d 100644 --- a/universalrobots_ur12e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/universalrobots_ur12e/.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": "2026-11-02T23:12:45", "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_ur12e/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur12e/.metadata/com.nvidia.simready.packaging.bom.json index 60146e92da25b26d8473de86e6829ab999947846..886bef6054c541dc0c00dd0216e249eea2b8f4c1 100644 --- a/universalrobots_ur12e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur12e/.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_ur12e/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/universalrobots_ur12e/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" } }, { @@ -18,54 +18,22 @@ "sha256": "888bcbd192b183e477c358deb3381aec985149bc34dc0612922c51e46bc0298a" } }, - { - "relative_path": ".thumbs/ur12e.thumb.usd", - "size": 6122, - "hash": { - "sha256-flat-1mb": 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false, + "passed": true, "version": "0-1-0" }, "CAP004_Multibody.RobotMuJoCo.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP021_RobotCore.Isaac.0-2-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.003', 'com.nvidia.simready.RC.005', 'com.nvidia.simready.RC.009']", - "passed": false, + "passed": true, "version": "0-2-0" }, "CAP022_DrivenJoints.MuJoCo.0-1-0": { "blocking_failure": false, "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP024_BaseArticulation.MuJoCo.0-1-0": { @@ -77,8 +1247,7 @@ "CAP024_BaseArticulation.Newton.0-1-0": { "blocking_failure": false, "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "optional requirements": "['com.nvidia.simready.NEWTON.BA.001']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP024_BaseArticulation.OpenUSD.0-1-0": { @@ -96,8 +1265,7 @@ "CAP028_Gripper.MuJoCo.0-1-0": { "blocking_failure": false, "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { @@ -107,11 +1275,9 @@ "version": "0-1-0" }, "CAP033_SimReadyPackage.OpenUSD.0-4-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", - "failing requirements": "['com.nvidia.simready.SR.004']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.SR.004\": [\"Required metadata fields are missing: mass. Fields may be authored in root-layer customLayerData (including SimReady_Metadata) and/or the same-directory sidecar JSON.\"]}", + "passed": true, "version": "0-4-0" }, "CAP100_IsaacComposition.Isaac.0-3-0": { @@ -129,8 +1295,7 @@ "FET003_RigidBody.Newton.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']", - "passed": false, + "passed": true, "version": "0-1-0" }, "FET003_RigidBody.OpenUSD.0-2-0": { @@ -148,8 +1313,7 @@ "FET004_Multibody.Newton.0-1-0": { "blocking_failure": false, "dependencies": "['FET003_RigidBody.Newton.0-1-0']", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "FET004_Multibody.OpenUSD.0-2-0": { @@ -161,29 +1325,25 @@ "FET004_Multibody.PhysX.0-4-0": { "blocking_failure": false, "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", - "optional requirements": "['com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-4-0" }, "FET004_Multibody.RobotNewton.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "FET004_Multibody.RobotPhysX.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "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": { @@ -195,64 +1355,285 @@ "FET006_Materials.Openpbr.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.PBR.001']", - "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.0-1-0": { "blocking_failure": false, "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", - "optional requirements": "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "FET022_DrivenJoints.Isaac.0-2-0": { "blocking_failure": false, "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", - "optional requirements": "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-2-0" }, "FET022_DrivenJoints.Newton.0-1-0": { "blocking_failure": false, "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.NEWTON.DJ.001', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "FET022_DrivenJoints.OpenUSD.0-2-0": { "blocking_failure": false, "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", - "optional requirements": "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002']", - "passed": false, + "passed": true, "version": "0-2-0" }, "FET022_DrivenJoints.PhysX.0-1-0": { "blocking_failure": false, "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", - "optional requirements": "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-1-0" }, "FET022_DrivenJoints.PhysX.0-2-0": { "blocking_failure": false, "dependencies": "['FET004_Multibody.PhysX.0-4-0']", - "optional requirements": "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, "version": "0-2-0" }, "FET028_Gripper.Isaac.0-1-0": { "blocking_failure": false, "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", - "optional requirements": "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']", - "passed": false, + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "2026-11-01": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, "version": "0-1-0" }, "FET028_Gripper.OpenUSD.0-1-0": { diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/.thumbs/256x256/Robotiq_2F_140.usda.png b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/.thumbs/256x256/simready_Robotiq_2F-140.usda.png similarity index 100% rename from universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/.thumbs/256x256/Robotiq_2F_140.usda.png rename to universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/.thumbs/256x256/simready_Robotiq_2F-140.usda.png diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/.thumbs/Robotiq_2F_140.thumb.usd b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/.thumbs/Robotiq_2F_140.thumb.usd deleted file mode 100644 index 05d4454c7617ef33756bcdafeadde75ab960e212..0000000000000000000000000000000000000000 Binary files a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/.thumbs/Robotiq_2F_140.thumb.usd and /dev/null differ diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/Robotiq_2F_140.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/Robotiq_2F_140.usda deleted file mode 100644 index 3cb13c8265fe32e14310b75ff2c8eb95067122d2..0000000000000000000000000000000000000000 --- a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/Robotiq_2F_140.usda +++ /dev/null @@ -1,472 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/Robotiq_2F_140" - string variantSetName = "PhysX" - } - } - } - dictionary validation = { - string profile = "Robot-Gripper" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-20" = { - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NP.005', 'com.nvidia.simready.RV.007']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NP.005', 'com.nvidia.simready.RV.004']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.NP.005']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NP.005']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.003', 'com.nvidia.simready.RC.005', 'com.nvidia.simready.RC.009']" - bool passed = 0 - string version = "0-2-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.BA.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 1 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.SR.004']" - bool passed = 0 - string requirement_messages = '{"com.nvidia.simready.SR.004": ["Required metadata fields are missing: mass. Fields may be authored in root-layer customLayerData (including SimReady_Metadata) and/or the same-directory sidecar JSON."]}' - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - string "optional requirements" = "['com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - 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 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - 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']" - bool passed = 0 - 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 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - string "optional requirements" = "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.NEWTON.DJ.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - string "optional requirements" = "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002']" - bool passed = 0 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - string "optional requirements" = "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-2-0" - } - dictionary "FET028_Gripper.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.DJ.001', 'com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "FET028_Gripper.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - } - } - } - } - float3 asset_extents = (0.21090108, 0.21130733, 0.075) - string asset_license = "CC-BY-4.0" - string asset_name = "Robotiq_2F_140" - string asset_type = "robot" - string author = "Robotiq" - string category = "robot end effector" - string qcode = "Q1340324" - int rigid_body_count = 9 - string source_file = "Robotiq/2F-140/Robotiq_2F_140.usda" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "Robotiq_2F_140" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "Robotiq_2F_140" ( - kind = "component" - prepend references = [ - @./payloads/Physics/physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string PhysX = "Disabled" - } - prepend variantSets = "PhysX" -) -{ - over "left_outer_knuckle" - { - over "Finger1" ( - instanceable = false - ) - { - over "Finger1" - { - float3[] extent = [(-0.06801494, 0.044373713, -0.0047), (-0.03498509, 0.064530514, 0.0047)] - } - } - } - - over "left_outer_finger" - { - over "Finger2" ( - instanceable = false - ) - { - over "Finger2" - { - float3[] extent = [(-0.105653666, 0.04403517, -0.0136), (-0.047659468, 0.13526823, 0.0136)] - } - } - } - - over "left_inner_finger" - { - over "Fingertip_01" - { - over "Fingertip" ( - instanceable = false - ) - { - over "Fingertip" - { - float3[] extent = [(-0.091355085, 0.14228664, -0.011), (-0.072197594, 0.20778665, 0.011)] - } - } - } - - over "Finger4_01" - { - over "Finger4" ( - instanceable = false - ) - { - over "Finger4" - { - float3[] extent = [(-0.10343339, 0.123293996, -0.0135), (-0.07355508, 0.15128665, 0.0135)] - } - } - } - } - - over "left_inner_knuckle" - { - over "Finger3" ( - instanceable = false - ) - { - over "Finger3" - { - float3[] extent = [(-0.085554935, 0.055458643, -0.0175), (-0.0067001586, 0.141748, 0.0175)] - } - } - } - - over "right_outer_knuckle" - { - over "Finger1" ( - instanceable = false - ) - { - over "Finger1" - { - float3[] extent = [(-0.06801494, 0.044373713, -0.0047), (-0.03498509, 0.064530514, 0.0047)] - } - } - } - - over "right_outer_finger" - { - over "Finger2" ( - instanceable = false - ) - { - over "Finger2" - { - float3[] extent = [(-0.105653666, 0.04403517, -0.0136), (-0.047659468, 0.13526823, 0.0136)] - } - } - } - - over "right_inner_finger" - { - over "Finger4_01" - { - over "Finger4" ( - instanceable = false - ) - { - over "Finger4" - { - float3[] extent = [(-0.10343339, 0.123293996, -0.0135), (-0.07355508, 0.15128665, 0.0135)] - } - } - } - - over "Fingertip_01" - { - over "Fingertip" ( - instanceable = false - ) - { - over "Fingertip" - { - float3[] extent = [(-0.091355085, 0.14228664, -0.011), (-0.072197594, 0.20778665, 0.011)] - } - } - } - } - - over "right_inner_knuckle" - { - over "Finger3" ( - instanceable = false - ) - { - over "Finger3" - { - float3[] extent = [(-0.085554935, 0.055458643, -0.0175), (-0.0067001586, 0.141748, 0.0175)] - } - } - } - - over "robotiq_base_link" - { - over "_F_Body_01" - { - over "_F_Body" ( - instanceable = false - ) - { - over "_F_Body" - { - float3[] extent = [(-0.04244335, -0.0033564342, -0.0375), (0.042443354, 0.09, 0.0375)] - } - } - } - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } -} - diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/license.txt b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/license.txt deleted file mode 100644 index da6ab6cc8f333d7e89a99812866df8f24374d47c..0000000000000000000000000000000000000000 --- a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/license.txt +++ /dev/null @@ -1,396 +0,0 @@ -Attribution 4.0 International - 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For -the avoidance of doubt, this paragraph does not form part of the -public licenses. - -Creative Commons may be contacted at creativecommons.org. - diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/Physics/physics.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/Physics/physics.usda index fac8891b7991919ae38979eeda3b1484a572454a..285f11fb9d5af5a9bdd62e3db57eda592b3ff498 100644 --- a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/Physics/physics.usda +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/Physics/physics.usda @@ -14,6 +14,7 @@ over "Robotiq_2F_140" ( prepend apiSchemas = ["PhysicsArticulationRootAPI"] ) { + reorder nameChildren = ["robotiq_base_link", "left_outer_knuckle", "left_outer_finger", "left_inner_finger", "left_inner_knuckle", "right_outer_knuckle", "right_outer_finger", "right_inner_finger", "right_inner_knuckle"] over "left_outer_knuckle" ( prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] ) @@ -31,7 +32,6 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } @@ -55,13 +55,11 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } - def PhysicsFixedJoint "left_outer_finger_joint" ( - ) + def PhysicsFixedJoint "left_outer_finger_joint" { rel physics:body0 = rel physics:body1 = @@ -83,8 +81,7 @@ over "Robotiq_2F_140" ( float physics:mass = 0.04983438 quatf physics:principalAxes = (0.9941523, -0.00084205647, 0.00047910627, -0.1079824) - over "Fingertip_01" ( - ) + over "Fingertip_01" { over "Fingertip" { @@ -94,14 +91,12 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } } - over "Finger4_01" ( - ) + over "Finger4_01" { over "Finger4" { @@ -111,7 +106,6 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } @@ -136,7 +130,6 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } @@ -159,22 +152,20 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } - def PhysicsFixedJoint "right_outer_finger_joint" ( - ) + def PhysicsFixedJoint "right_outer_finger_joint" { - rel physics:body0 = - rel physics:body1 = + rel physics:body0 = + rel physics:body1 = float physics:breakForce = 3.4028235e38 float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (3.6062071e-12, 2.44103e-12, 2.5514872e-17) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, -2.2221605e-18, 2.2221605e-18, 2.1320418e-11) - quatf physics:localRot1 = (1, 0, 0, 0) + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (3.6062071e-12, 2.44103e-12, 2.5514872e-17) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, -2.2221605e-18, 2.2221605e-18, 2.1320418e-11) } } @@ -196,7 +187,6 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } @@ -211,8 +201,7 @@ over "Robotiq_2F_140" ( float physics:mass = 0.04983438 quatf physics:principalAxes = (0.9941524, -0.0007198045, 0.00064511795, 0.107981525) - over "Finger4_01" ( - ) + over "Finger4_01" { over "Finger4" { @@ -222,14 +211,12 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } } - over "Fingertip_01" ( - ) + over "Fingertip_01" { over "Fingertip" { @@ -239,7 +226,6 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } @@ -264,17 +250,28 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } } + def PhysicsFixedJoint "root_joint" + { + custom rel physics:body1 + prepend rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0.15) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (6.123234e-17, 0.70710677, 4.3297803e-17, 0.70710677) + quatf physics:localRot1 = (1, 0, 0, 0) + } + def PhysicsRevoluteJoint "finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { - float drive:angular:physics:damping = 0.001 + float drive:angular:physics:damping = 0.1 float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 3 float drive:angular:physics:targetPosition = 0 @@ -288,17 +285,19 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (6.123234e-17, 6.123234e-17, -1, 6.123234e-17) float physics:lowerLimit = 0 float physics:upperLimit = 45 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = inf + float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 0 - float drive:angular:physics:targetPosition = 45 - float drive:angular:physics:targetVelocity + float drive:angular:physics:targetPosition = 0 + float drive:angular:physics:targetVelocity = 0 uniform token drive:angular:physics:type = "force" uniform token physics:axis = "Z" custom rel physics:body0 = @@ -309,13 +308,16 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (6.123234e-17, 6.123234e-17, -1, 6.123234e-17) float physics:lowerLimit = 0 float physics:upperLimit = 75 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 0 uniform token physics:axis = "Z" custom rel physics:body0 @@ -329,13 +331,16 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (1.1823733e-15, 1, 1.2635337e-11, -4.8699635e-16) float physics:lowerLimit = -inf float physics:upperLimit = inf + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 0 uniform token physics:axis = "Z" custom rel physics:body0 @@ -349,14 +354,16 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (6.123234e-17, 0, 0, 1) float physics:lowerLimit = -inf float physics:upperLimit = inf + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "left_outer_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = inf + float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 0 float drive:angular:physics:targetPosition = 0 uniform token drive:angular:physics:type = "acceleration" @@ -372,14 +379,16 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (1, 0, 0, 0) float physics:lowerLimit = 0 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "right_outer_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = inf + float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 0 uniform token drive:angular:physics:type = "acceleration" uniform token physics:axis = "Z" @@ -394,16 +403,18 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (1, 0, 0, 0) float physics:lowerLimit = 0 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0.00001 float drive:angular:physics:maxForce = 1 float drive:angular:physics:stiffness = 0.002 - float drive:angular:physics:targetPosition = -45 + float drive:angular:physics:targetPosition = 0 uniform token physics:axis = "Z" custom rel physics:body0 = custom rel physics:body1 = @@ -414,16 +425,18 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (5.0532154e-16, -0.70710677, 0.70710677, 5.168029e-16) float physics:lowerLimit = -180 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0.00001 float drive:angular:physics:maxForce = 1 float drive:angular:physics:stiffness = 0.002 - float drive:angular:physics:targetPosition = -45 + float drive:angular:physics:targetPosition = 0 uniform token physics:axis = "Z" custom rel physics:body0 = custom rel physics:body1 = @@ -434,15 +447,17 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (0.70710677, 1.0999103e-15, -8.806161e-17, 0.70710677) float physics:lowerLimit = -180 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 token visibility = "invisible" } def PhysicsRevoluteJoint "right_inner_finger_pad_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = inf + float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 0 float drive:angular:physics:targetPosition = 0 uniform token physics:axis = "Z" @@ -455,14 +470,16 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (-3.8285688e-16, 1, 1.2578549e-11, 1.2142144e-15) float physics:lowerLimit = -45 float physics:upperLimit = 45 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "left_inner_finger_pad_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = inf + float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 0 float drive:angular:physics:targetPosition = 0 uniform token physics:axis = "Z" @@ -475,14 +492,27 @@ over "Robotiq_2F_140" ( quatf physics:localRot1 = (-8.269461e-16, 1, 1.2612578e-11, 9.284436e-17) float physics:lowerLimit = -45 float physics:upperLimit = 45 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } over "robotiq_base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI"] + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] ) { - over "_F_Body_01" ( + point3f physics:centerOfMass = (-0.000242, -1.9814578e-13, 3.4604155e-17) + float3 physics:diagonalInertia = (0.00009301462, 0.0000882971, 0.000026081625) + float physics:mass = 0.04351246 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } ) + quatf physics:principalAxes = (0.9999719, -0.0004931656, 0.001501296, 0.007327927) + + over "_F_Body_01" { over "_F_Body" { @@ -492,7 +522,6 @@ over "Robotiq_2F_140" ( { point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) float physics:mass = 0 } } @@ -508,15 +537,3 @@ over "Robotiq_2F_140" ( } } -def PhysicsFixedJoint "FixedJoint" -{ - custom rel physics:body1 - prepend rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (6.123234e-17, 0.70710677, 4.3297803e-17, 0.70710677) - quatf physics:localRot1 = (1, 0, 0, 0) -} - diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/base.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/base.usda index 373ca6b766d1abd710eb0544c3cbb70b8c9da518..32a3daa489844399b6aaeffbe2e60ca6f268ade8 100644 --- a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/base.usda +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/base.usda @@ -15,6 +15,7 @@ def Xform "Robotiq_2F_140" { + reorder nameChildren = ["robotiq_base_link", "left_outer_knuckle", "left_outer_finger", "left_inner_finger", "left_inner_knuckle", "right_outer_knuckle", "right_outer_finger", "right_inner_finger", "right_inner_knuckle"] uniform token[] xformOpOrder = [] def Xform "left_outer_knuckle" ( @@ -23,7 +24,7 @@ def Xform "Robotiq_2F_140" { quatd xformOp:orient = (0.7071067811865986, 4.902349974783143e-16, 6.096901636101399e-16, -0.7071067811864964) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.00024200000540691987, 3.8771718906765497e-14, -7.789376034500418e-17) + double3 xformOp:translate = (-0.00024200000540691987, 3.8771718906765497e-14, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "Finger1" ( @@ -32,8 +33,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Finger1" ( - ) + over "Finger1" { } } @@ -45,7 +45,7 @@ def Xform "Robotiq_2F_140" { quatd xformOp:orient = (-0.7071067811714563, -5.000480753317283e-16, -4.919332292219785e-16, 0.7071067812016387) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.00024200000786084308, 3.655629602850554e-12, -7.789376033945457e-17) + double3 xformOp:translate = (-0.00024200000786084308, 3.655629602850554e-12, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "Finger2" ( @@ -54,8 +54,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Finger2" ( - ) + over "Finger2" { } } @@ -67,7 +66,7 @@ def Xform "Robotiq_2F_140" { quatd xformOp:orient = (1, 0, 0, 0) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) + double3 xformOp:translate = (0, 0, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "Fingertip_01" ( @@ -88,8 +87,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Fingertip" ( - ) + over "Fingertip" { } } @@ -109,8 +107,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Finger4" ( - ) + over "Finger4" { } } @@ -140,7 +137,7 @@ def Xform "Robotiq_2F_140" ) quatd xformOp:orient = (-0.707106781177613, -1.088488258189625e-16, -1.0880323113196409e-15, 0.7071067811954821) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.00024200000572815547, 1.4956748502000008e-12, 1.9950118327902315e-17) + double3 xformOp:translate = (-0.00024200000572815547, 1.4956748502000008e-12, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "Finger3" ( @@ -149,8 +146,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Finger3" ( - ) + over "Finger3" { } } @@ -162,7 +158,7 @@ def Xform "Robotiq_2F_140" { quatd xformOp:orient = (-1.048990684667789e-15, 0.7071067811865456, 0.7071067811865495, 1.2521301036646133e-16) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0002420000054116942, 4.67488709051141e-14, 8.909694415218707e-17) + double3 xformOp:translate = (-0.0002420000054116942, 4.67488709051141e-14, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "Finger1" ( @@ -171,8 +167,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Finger1" ( - ) + over "Finger1" { } } @@ -184,7 +179,7 @@ def Xform "Robotiq_2F_140" { quatd xformOp:orient = (-1.048990684667789e-15, 0.7071067811714697, 0.7071067812016253, 1.2207040080738798e-16) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0002420000078527243, -3.559458363235193e-12, 1.1461181571471843e-16) + double3 xformOp:translate = (-0.0002420000078527243, -3.559458363235193e-12, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "Finger2" ( @@ -193,8 +188,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Finger2" ( - ) + over "Finger2" { } } @@ -206,7 +200,7 @@ def Xform "Robotiq_2F_140" { quatd xformOp:orient = (1, 0, 0, 0) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) + double3 xformOp:translate = (0, 0, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "Finger4_01" ( @@ -223,8 +217,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Finger4" ( - ) + over "Finger4" { } } @@ -248,8 +241,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Fingertip" ( - ) + over "Fingertip" { } } @@ -266,7 +258,7 @@ def Xform "Robotiq_2F_140" ) quatd xformOp:orient = (-1.6081226496766364e-16, 0.7071067811776556, 0.7071067811954395, -2.667677072077055e-16) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0002420000057306303, -1.3997540118790104e-12, -1.370351929938986e-17) + double3 xformOp:translate = (-0.0002420000057306303, -1.3997540118790104e-12, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "Finger3" ( @@ -275,8 +267,7 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "Finger3" ( - ) + over "Finger3" { } } @@ -288,7 +279,7 @@ def Xform "Robotiq_2F_140" { quatd xformOp:orient = (6.123233995736766e-17, 0.7071067811865476, 4.329780281177466e-17, 0.7071067811865475) float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) + double3 xformOp:translate = (0, 0, 0.15) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Xform "_F_Body_01" ( @@ -306,19 +297,42 @@ def Xform "Robotiq_2F_140" prepend references = @./instances.usda@ ) { - over "_F_Body" ( - ) + over "_F_Body" { } } } - def Xform "grasp_frame" + def Xform "grasp_frame" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) { + custom float gripper_maxOpening = 0.14 + custom float gripper_maxPayload = 2 + string isaac:Description = "Parallel-jaw grasp center" + token simready:attactment:socketType = "Gripper" quatd xformOp:orient = (1, 0, 0, 0) double3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (3.511745904322756e-17, -4.0113266590528364e-18, 0.1581549754612783) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0, 0.05)] + point3f[] points = [(0, 0, 0), (0, 0, 0.05)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(-0.015, 0, 0), (0.015, 0, 0)] + point3f[] points = [(-0.015, 0, 0), (0.015, 0, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } } } diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/instances.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/instances.usda index 9bde505408e0d0d19f397849f111a623f7e165ff..e98f39d146ee6eac35ffaa8684a9736e99bbcfc1 100644 --- a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/instances.usda +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/instances.usda @@ -16,16 +16,13 @@ def Scope "Instances" ) { over "Finger1" ( - apiSchemas = ["PhysicsMassAPI", "MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] ) { double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] custom rel material:binding prepend rel material:binding = - point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) - float physics:mass = 0 } def Scope "VisualMaterials" @@ -50,7 +47,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -62,14 +59,11 @@ def Scope "Instances" ) { over "Finger2" ( - apiSchemas = ["PhysicsMassAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] ) { double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] - point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) - float physics:mass = 0 over "Gray" ( apiSchemas = ["MaterialBindingAPI"] @@ -118,7 +112,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -143,7 +137,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -168,7 +162,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -180,14 +174,11 @@ def Scope "Instances" ) { over "Fingertip" ( - apiSchemas = ["PhysicsMassAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] ) { double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] - point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) - float physics:mass = 0 over "Gray_Nurse" ( apiSchemas = ["MaterialBindingAPI"] @@ -228,7 +219,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -253,7 +244,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -265,14 +256,11 @@ def Scope "Instances" ) { over "Finger4" ( - apiSchemas = ["PhysicsMassAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] ) { double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] - point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) - float physics:mass = 0 over "Periwinkle_Gray" ( apiSchemas = ["MaterialBindingAPI"] @@ -321,7 +309,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -346,7 +334,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -371,7 +359,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -383,16 +371,13 @@ def Scope "Instances" ) { over "Finger3" ( - apiSchemas = ["PhysicsMassAPI", "MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] ) { double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] custom rel material:binding prepend rel material:binding = - point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) - float physics:mass = 0 } def Scope "VisualMaterials" @@ -417,7 +402,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -429,14 +414,11 @@ def Scope "Instances" ) { over "_F_Body" ( - apiSchemas = ["PhysicsMassAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] ) { double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] - point3f physics:centerOfMass = (0, 0, 0) bool physics:collisionEnabled = 1 - float3 physics:diagonalInertia = (0, 0, 0) - float physics:mass = 0 over "Mystic" ( apiSchemas = ["MaterialBindingAPI"] @@ -533,7 +515,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -558,7 +540,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -584,7 +566,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -609,7 +591,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -634,7 +616,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -659,7 +641,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -684,7 +666,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -709,7 +691,7 @@ def Scope "Instances" def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -734,7 +716,7 @@ 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/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/materials.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/materials.usda index 7009565ac9ad1500f7ad63d42f37b5647363c828..6c86f1c6d7e59cb0191671c31fb21d756a209d93 100644 --- a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/materials.usda +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/materials.usda @@ -22,6 +22,7 @@ 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" ) @@ -109,9 +110,18 @@ 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 "Cod_Gray" @@ -125,6 +135,7 @@ 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" ) @@ -212,9 +223,18 @@ 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 "Periwinkle_Gray" @@ -228,6 +248,7 @@ 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" ) @@ -315,9 +336,18 @@ 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 "Geyser" @@ -331,6 +361,7 @@ 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" ) @@ -418,9 +449,18 @@ 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" @@ -434,6 +474,7 @@ 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" ) @@ -471,9 +512,18 @@ 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 "Mystic" @@ -487,6 +537,7 @@ 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" ) @@ -574,9 +625,18 @@ 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 "San_Marino" @@ -590,6 +650,7 @@ 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" ) @@ -678,9 +739,18 @@ 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 "Gravel" @@ -694,6 +764,7 @@ 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" ) @@ -731,9 +802,18 @@ 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 "Gallery" @@ -747,6 +827,7 @@ 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" ) @@ -834,9 +915,18 @@ 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 "Chateau_Green" @@ -850,6 +940,7 @@ 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" ) @@ -887,9 +978,18 @@ 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 "White" @@ -903,6 +1003,7 @@ 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" ) @@ -940,9 +1041,18 @@ 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 "Pumice" @@ -956,6 +1066,7 @@ 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" ) @@ -1043,9 +1154,18 @@ 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/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/robot.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/robot.usda index 2360598387f688cd1b5b8ea288df1db1998c0fff..1e164ddb71ae2d88964893672f53927a3d17cb6a 100644 --- a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/robot.usda +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/payloads/robot.usda @@ -31,6 +31,7 @@ over "Robotiq_2F_140" ( displayName = "Robot Joints" ) prepend rel isaac:physics:robotJoints = [ + , , , , @@ -168,6 +169,12 @@ over "Robotiq_2F_140" ( } } + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + over "finger_joint" ( prepend apiSchemas = ["IsaacJointAPI"] ) diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/runnables/physics/mujoco.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..01448f2d2efff5fdaff580e00a86e25d78348125 --- /dev/null +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/runnables/physics/mujoco.usda @@ -0,0 +1,258 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_140" +) + +def "Robotiq_2F_140" +{ + over "left_outer_knuckle" + { + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_outer_finger" + { + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_inner_finger" + { + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "left_inner_knuckle" + { + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_knuckle" + { + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_finger" + { + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_inner_finger" + { + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "right_inner_knuckle" + { + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "robotiq_base_link" + { + over "_F_Body_01" + { + over "_F_Body" + { + over "_F_Body" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "grasp_frame" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "finger_joint" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + def "MuJoCoActuators" + { + def MjcActuator "act_Robotiq_2F_140_finger_joint" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -171.88733853924697, -0.05729578223448582] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 26 + double mjc:forceRange:min = -26 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_outer_finger_joint" ( + active = false + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "right_outer_finger_joint" ( + active = false + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_pad_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_inner_finger_pad_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } +} + diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/runnables/physics/newton.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..e97c5e970d23de33580ab61f8c9d9bcdab0c1307 --- /dev/null +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/runnables/physics/newton.usda @@ -0,0 +1,279 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_140" +) + +over "Robotiq_2F_140" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] +) +{ + bool newton:selfCollisionEnabled = 0 + + over "left_outer_knuckle" + { + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_outer_finger" + { + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_inner_finger" + { + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "left_inner_knuckle" + { + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_knuckle" + { + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_finger" + { + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_inner_finger" + { + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "right_inner_knuckle" + { + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "robotiq_base_link" + { + over "_F_Body_01" + { + over "_F_Body" + { + over "_F_Body" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 7.5 + float newton:armature = 0.1 + float newton:damping = 0.25 + float newton:velocityLimit = 130 + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 130 + } + + over "left_outer_finger_joint" ( + active = false + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float newton:velocityLimit = 1000000 + } + + over "right_outer_finger_joint" ( + active = false + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float newton:velocityLimit = 1000000 + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 1000000 + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 1000000 + } + + over "right_inner_finger_pad_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 1000000 + } + + over "left_inner_finger_pad_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 1000000 + } + + over "left_inner_knuckle_joint" ( + active = false + ) + { + } + + over "right_inner_knuckle_joint" ( + active = false + ) + { + } +} + diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/runnables/physics/physx.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/runnables/physics/physx.usda index b213354c125740de4e719a61ea47a5e09b4b4efb..d03b2f4dfcc35081d2ac18a36861e9f6ccaeaf1f 100644 --- a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/runnables/physics/physx.usda +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/runnables/physics/physx.usda @@ -76,8 +76,7 @@ over "Robotiq_2F_140" ( bool physxRigidBody:enableCCD = 1 float physxRigidBody:sleepThreshold = 0 - over "Fingertip_01" ( - ) + over "Fingertip_01" { over "Fingertip" { @@ -90,8 +89,7 @@ over "Robotiq_2F_140" ( } } - over "Finger4_01" ( - ) + over "Finger4_01" { over "Finger4" { @@ -131,14 +129,14 @@ over "Robotiq_2F_140" ( over "right_outer_finger_joint" { - rel physics:body0 = - rel physics:body1 = + rel physics:body0 = + rel physics:body1 = float physics:breakForce = 3.4028235e38 float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (3.6062071e-12, 2.44103e-12, 2.5514872e-17) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, -2.2221605e-18, 2.2221605e-18, 2.1320418e-11) - quatf physics:localRot1 = (1, 0, 0, 0) + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (3.6062071e-12, 2.44103e-12, 2.5514872e-17) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, -2.2221605e-18, 2.2221605e-18, 2.1320418e-11) } over "Finger1" @@ -180,8 +178,7 @@ over "Robotiq_2F_140" ( bool physxRigidBody:disableGravity = 1 bool physxRigidBody:enableCCD = 1 - over "Finger4_01" ( - ) + over "Finger4_01" { over "Finger4" { @@ -194,8 +191,7 @@ over "Robotiq_2F_140" ( } } - over "Fingertip_01" ( - ) + over "Fingertip_01" { over "Fingertip" { @@ -252,6 +248,8 @@ over "Robotiq_2F_140" ( prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 bool[] isaac:actuator ( displayName = "Actuator" ) @@ -264,7 +262,8 @@ over "Robotiq_2F_140" ( float physxJoint:maxJointVelocity = 130 float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 1000 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -351,6 +350,8 @@ over "Robotiq_2F_140" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 bool[] isaac:actuator ( displayName = "Actuator" ) @@ -363,9 +364,10 @@ over "Robotiq_2F_140" ( float physics:lowerLimit = -180 float physics:upperLimit = 180 float physxJoint:maxJointVelocity = 1000000 - float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -376,6 +378,8 @@ over "Robotiq_2F_140" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 bool[] isaac:actuator ( displayName = "Actuator" ) @@ -388,7 +392,10 @@ over "Robotiq_2F_140" ( float physics:lowerLimit = -180 float physics:upperLimit = 180 float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -399,6 +406,8 @@ over "Robotiq_2F_140" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 bool[] isaac:actuator ( displayName = "Actuator" ) @@ -409,7 +418,10 @@ over "Robotiq_2F_140" ( displayName = "Dof Offset Op Order" ) float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -420,6 +432,8 @@ over "Robotiq_2F_140" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 bool[] isaac:actuator ( displayName = "Actuator" ) @@ -430,7 +444,10 @@ over "Robotiq_2F_140" ( displayName = "Dof Offset Op Order" ) float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -442,8 +459,7 @@ over "Robotiq_2F_140" ( { uniform token physics:approximation = "convexHull" - over "_F_Body_01" ( - ) + over "_F_Body_01" { over "_F_Body" { diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140.usda new file mode 100644 index 0000000000000000000000000000000000000000..8caec7d6f759d94ece5fad3abcab91857ef60c9a --- /dev/null +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140.usda @@ -0,0 +1,1890 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_140" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_140" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_140" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-11-02T07:57:11.084680+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 = 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/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 = 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + 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 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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 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 = 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/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_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/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + 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 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + dictionary "2026-11-01" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.21090108, 0.21130733, 0.075) + string asset_license = "CC-BY-4.0" + string asset_name = "Robotiq_2F_140" + string asset_type = "robot" + string author = "Robotiq" + string category = "robot end effector" + double mass = 0.45186075009405613 + string qcode = "Q1340324" + int rigid_body_count = 9 + string source_file = "Robotiq/2F-140/Robotiq_2F_140.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "Robotiq_2F_140" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +def Xform "Robotiq_2F_140" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + } + prepend variantSets = ["PhysX", "Newton", "MuJoCo"] +) +{ + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "robotiq_base_link" + { + over "_F_Body_01" + { + over "_F_Body" ( + instanceable = false + ) + { + over "_F_Body" + { + float3[] extent = [(-0.04244335, -0.0033564342, -0.0375), (0.042443354, 0.09, 0.0375)] + } + } + } + } + + over "left_outer_knuckle" + { + over "Finger1" ( + instanceable = false + ) + { + over "Finger1" + { + float3[] extent = [(-0.06801494, 0.044373713, -0.0047), (-0.03498509, 0.064530514, 0.0047)] + } + } + } + + over "left_outer_finger" + { + over "Finger2" ( + instanceable = false + ) + { + over "Finger2" + { + float3[] extent = [(-0.105653666, 0.04403517, -0.0136), (-0.047659468, 0.13526823, 0.0136)] + } + } + } + + over "left_inner_finger" + { + over "Fingertip_01" + { + over "Fingertip" ( + instanceable = false + ) + { + over "Fingertip" + { + float3[] extent = [(-0.091355085, 0.14228664, -0.011), (-0.072197594, 0.20778665, 0.011)] + } + } + } + + over "Finger4_01" + { + over "Finger4" ( + instanceable = false + ) + { + over "Finger4" + { + float3[] extent = [(-0.10343339, 0.123293996, -0.0135), (-0.07355508, 0.15128665, 0.0135)] + } + } + } + } + + over "left_inner_knuckle" + { + over "Finger3" ( + instanceable = false + ) + { + over "Finger3" + { + float3[] extent = [(-0.085554935, 0.055458643, -0.0175), (-0.0067001586, 0.141748, 0.0175)] + } + } + } + + over "right_outer_knuckle" + { + over "Finger1" ( + instanceable = false + ) + { + over "Finger1" + { + float3[] extent = [(-0.06801494, 0.044373713, -0.0047), (-0.03498509, 0.064530514, 0.0047)] + } + } + } + + over "right_outer_finger" + { + over "Finger2" ( + instanceable = false + ) + { + over "Finger2" + { + float3[] extent = [(-0.105653666, 0.04403517, -0.0136), (-0.047659468, 0.13526823, 0.0136)] + } + } + } + + over "right_inner_finger" + { + over "Finger4_01" + { + over "Finger4" ( + instanceable = false + ) + { + over "Finger4" + { + float3[] extent = [(-0.10343339, 0.123293996, -0.0135), (-0.07355508, 0.15128665, 0.0135)] + } + } + } + + over "Fingertip_01" + { + over "Fingertip" ( + instanceable = false + ) + { + over "Fingertip" + { + float3[] extent = [(-0.091355085, 0.14228664, -0.011), (-0.072197594, 0.20778665, 0.011)] + } + } + } + } + + over "right_inner_knuckle" + { + over "Finger3" ( + instanceable = false + ) + { + over "Finger3" + { + float3[] extent = [(-0.085554935, 0.055458643, -0.0175), (-0.0067001586, 0.141748, 0.0175)] + } + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/.simready/validation.json b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/.simready/validation.json index a493ceef6c3513ea6320d74665d6a2cfd57e5614..012379ff1b4357ef35cf194d5381f8f1ef3342eb 100644 --- a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/.simready/validation.json +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/.simready/validation.json @@ -1,79 +1,1241 @@ { 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"dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "CAP004_Multibody.MuJoCo.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "CAP004_Multibody.RobotMuJoCo.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "CAP021_RobotCore.Isaac.0-2-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.003', 'com.nvidia.simready.RC.005', 'com.nvidia.simready.RC.009']", - "passed": false, + "passed": true, "version": "0-2-0" }, "CAP022_DrivenJoints.MuJoCo.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "CAP024_BaseArticulation.MuJoCo.0-1-0": { @@ -85,8 +1247,7 @@ "CAP024_BaseArticulation.Newton.0-1-0": { "blocking_failure": false, "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "optional requirements": "['com.nvidia.simready.NEWTON.BA.001']", - "passed": false, + "passed": true, "version": "0-1-0" }, "CAP024_BaseArticulation.OpenUSD.0-1-0": { @@ -102,12 +1263,9 @@ "version": "0-1-0" }, "CAP028_Gripper.MuJoCo.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { @@ -117,11 +1275,9 @@ "version": "0-1-0" }, "CAP033_SimReadyPackage.OpenUSD.0-4-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", - "failing requirements": "['com.nvidia.simready.SR.004']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.SR.004\": [\"Required metadata fields are missing: mass. Fields may be authored in root-layer customLayerData (including SimReady_Metadata) and/or the same-directory sidecar JSON.\"]}", + "passed": true, "version": "0-4-0" }, "CAP100_IsaacComposition.Isaac.0-3-0": { @@ -137,79 +1293,57 @@ "version": "1-0-1" }, "FET003_RigidBody.Newton.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET003_RigidBody.OpenUSD.0-2-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-2-0" }, "FET003_RigidBody.PhysX.0-4-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-4-0" }, "FET004_Multibody.Newton.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET003_RigidBody.Newton.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET004_Multibody.OpenUSD.0-2-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-2-0" }, "FET004_Multibody.PhysX.0-4-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-4-0" }, "FET004_Multibody.RobotNewton.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET004_Multibody.RobotPhysX.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "[]", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "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": { @@ -221,78 +1355,285 @@ "FET006_Materials.Openpbr.0-1-0": { "blocking_failure": false, "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.PBR.001']", - "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.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET022_DrivenJoints.Isaac.0-2-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-2-0" }, "FET022_DrivenJoints.Newton.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.NEWTON.DJ.001', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET022_DrivenJoints.OpenUSD.0-2-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-2-0" }, "FET022_DrivenJoints.PhysX.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-1-0" }, "FET022_DrivenJoints.PhysX.0-2-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET004_Multibody.PhysX.0-4-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, "version": "0-2-0" }, "FET028_Gripper.Isaac.0-1-0": { - "blocking_failure": true, + "blocking_failure": false, "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", - "failing requirements": "['com.nvidia.simready.RB.007']", - "optional requirements": "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']", - "passed": false, - "requirement_messages": "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}", + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "2026-11-01": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, "version": "0-1-0" }, "FET028_Gripper.OpenUSD.0-1-0": { diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/.thumbs/256x256/Robotiq_2F_85.usda.png b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/.thumbs/256x256/simready_Robotiq_2F-85.usda.png similarity index 100% rename from universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/.thumbs/256x256/Robotiq_2F_85.usda.png rename to universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/.thumbs/256x256/simready_Robotiq_2F-85.usda.png diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/.thumbs/Robotiq_2F_85.thumb.usd b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/.thumbs/Robotiq_2F_85.thumb.usd deleted file mode 100644 index 7781fd3af0b02fe2e7405c8dbbde88ad51a227f7..0000000000000000000000000000000000000000 Binary files a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/.thumbs/Robotiq_2F_85.thumb.usd and /dev/null differ diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/Robotiq_2F_85.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/Robotiq_2F_85.usda deleted file mode 100644 index a11a4609cce6d04842cf835a220dbaa7e1fe165e..0000000000000000000000000000000000000000 --- a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/Robotiq_2F_85.usda +++ /dev/null @@ -1,427 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/Robotiq_2F_85" - string variantSetName = "PhysX" - } - } - } - dictionary validation = { - string profile = "Robot-Gripper" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-20" = { - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NP.005', 'com.nvidia.simready.RV.007']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NP.005', 'com.nvidia.simready.RV.004']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.NP.005']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NP.005']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.003', 'com.nvidia.simready.RC.005', 'com.nvidia.simready.RC.009']" - bool passed = 0 - string version = "0-2-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.BA.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 1 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.SR.004']" - bool passed = 0 - string requirement_messages = '{"com.nvidia.simready.SR.004": ["Required metadata fields are missing: mass. Fields may be authored in root-layer customLayerData (including SimReady_Metadata) and/or the same-directory sidecar JSON."]}' - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 1 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 1 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "[]" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - 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 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - 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']" - bool passed = 0 - 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 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 1 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.NEWTON.DJ.001', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 1 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 1 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-2-0" - } - dictionary "FET028_Gripper.Isaac.0-1-0" = { - bool blocking_failure = 1 - string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" - string "failing requirements" = "['com.nvidia.simready.RB.007']" - string "optional requirements" = "['com.nvidia.simready.DJ.002', 'com.nvidia.simready.DJ.007', 'com.nvidia.simready.DJ.010', 'com.nvidia.simready.RB.011']" - bool passed = 0 - string requirement_messages = "{\"com.nvidia.simready.RB.007\": [\"Rigid body '/Robotiq_2F_85/base_link' has no mass and child collider '/Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/Defeatured_2F_85_PAD_OPEN_basestep' has no mass.\", \"Rigid body '/Robotiq_2F_85/left_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\", \"Rigid body '/Robotiq_2F_85/right_outer_knuckle' has no mass and child collider '/Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/Defeatured_2F_85_PAD_OPEN_Finger1step' has no mass.\"]}" - string version = "0-1-0" - } - dictionary "FET028_Gripper.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - } - } - } - } - float3 asset_extents = (0.075, 0.15448326, 0.15177661) - string asset_license = "CC-BY-4.0" - string asset_name = "Robotiq_2F_85" - string asset_type = "robot" - string author = "Robotiq" - string category = "robot end effector" - string qcode = "Q1340324" - int rigid_body_count = 9 - string source_file = "Robotiq/2F-85/Robotiq_2F_85.usda" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "Robotiq_2F_85" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Xform "Robotiq_2F_85" ( - kind = "component" - prepend references = [ - @./payloads/Physics/Physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string PhysX = "Disabled" - } - prepend variantSets = "PhysX" -) -{ - string isaac:namespace ( - displayName = "Namespace" - doc = "Namespace of the prim in Isaac Sim" - ) - - over "base_link" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "left_outer_knuckle" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "left_outer_finger" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "left_inner_knuckle" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "right_outer_knuckle" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "right_outer_finger" - { - over "visuals" ( - instanceable = false - ) - { - } - } - - over "right_inner_knuckle" - { - over "visuals" ( - instanceable = false - ) - { - } - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } -} - diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/license.txt b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/license.txt deleted file mode 100644 index da6ab6cc8f333d7e89a99812866df8f24374d47c..0000000000000000000000000000000000000000 --- a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/license.txt +++ /dev/null @@ -1,396 +0,0 @@ -Attribution 4.0 International - 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Distribution of -Creative Commons public licenses does not create a lawyer-client or -other relationship. Creative Commons makes its licenses and related -information available on an "as-is" basis. Creative Commons gives no -warranties regarding its licenses, any material licensed under their -terms and conditions, or any related information. Creative Commons -disclaims all liability for damages resulting from their use to the -fullest extent possible. - -Using Creative Commons Public Licenses - -Creative Commons public licenses provide a standard set of terms and -conditions that creators and other rights holders may use to share -original works of authorship and other material subject to copyright -and certain other rights specified in the public license below. 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For -the avoidance of doubt, this paragraph does not form part of the -public licenses. - -Creative Commons may be contacted at creativecommons.org. - diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/Physics/Physics.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/Physics/Physics.usda index 27be9d090672dee417b4b7e0d9f5bdcc7a1e26b9..36bcb3538e9862bbd599b1ab90bd595a23d99a8f 100644 --- a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/Physics/Physics.usda +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/Physics/Physics.usda @@ -14,9 +14,18 @@ over "Robotiq_2F_85" ( ) { over "base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI"] + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] ) { + float physics:mass = 0.043512285 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + over "visuals" { over "Defeatured_2F_85_PAD_OPEN_basestep_01" @@ -35,9 +44,18 @@ over "Robotiq_2F_85" ( } over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI"] + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] ) { + float physics:mass = 0.0033728504 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + over "visuals" { over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" @@ -151,9 +169,18 @@ over "Robotiq_2F_85" ( } over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI"] + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] ) { + float physics:mass = 0.0033728504 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + over "visuals" { over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" @@ -268,11 +295,16 @@ over "Robotiq_2F_85" ( over "Joints" { + def PhysicsFixedJoint "root_joint" + { + custom rel physics:body1 = + } + def PhysicsRevoluteJoint "finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] ) { - float drive:angular:physics:damping = 0.0002 + float drive:angular:physics:damping = 0.1 float drive:angular:physics:maxForce = 26 float drive:angular:physics:stiffness = 3 float drive:angular:physics:targetPosition = 0 @@ -286,9 +318,12 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5) float physics:lowerLimit = 0 float physics:upperLimit = 47 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 @@ -303,6 +338,8 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, -0.5, 0.5, -0.5) float physics:lowerLimit = 0 float physics:upperLimit = 47 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsFixedJoint "right_outer_finger_joint" @@ -316,6 +353,7 @@ over "Robotiq_2F_85" ( } def PhysicsRevoluteJoint "right_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 @@ -331,9 +369,12 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5) float physics:lowerLimit = -180 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 @@ -348,6 +389,8 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5) float physics:lowerLimit = -180 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsFixedJoint "left_outer_finger_joint" @@ -361,6 +404,7 @@ over "Robotiq_2F_85" ( } def PhysicsRevoluteJoint "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 @@ -374,9 +418,12 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) float physics:lowerLimit = -180 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } def PhysicsRevoluteJoint "left_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] ) { float drive:angular:physics:damping = 0 @@ -392,7 +439,17 @@ over "Robotiq_2F_85" ( quatf physics:localRot1 = (0.5, -0.5, -0.5, 0.5) float physics:lowerLimit = -180 float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 } } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 4 + float physics:staticFriction = 4 + } } diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/base.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/base.usda index d976d2af219dda52a4914539ad1355d910ed521f..abadb5fc6ec7b376191850d4aacea6a510dd1800 100644 --- a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/base.usda +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/base.usda @@ -37,6 +37,36 @@ def Xform "Robotiq_2F_85" ( double3 xformOp:translate = (0, 0, 0) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.085 + custom float gripper_maxPayload = 0.5 + string isaac:Description = "Parallel-jaw grasp center" + token simready:attactment:socketType = "Gripper" + double3 xformOp:translate = (0, 0, 0.13) + uniform token[] xformOpOrder = ["xformOp:translate"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0, 0.05)] + point3f[] points = [(0, 0, 0), (0, 0, 0.05)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(-0.015, 0, 0), (0.015, 0, 0)] + point3f[] points = [(-0.015, 0, 0), (0.015, 0, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } } def Xform "left_outer_knuckle" ( @@ -117,8 +147,13 @@ def Xform "Robotiq_2F_85" ( } } - def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" ( + prepend apiSchemas = ["MaterialBindingAPI"] + ) { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) quatd xformOp:orient = (1, 0, 0, 0) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0, 0, 0) @@ -234,8 +269,13 @@ def Xform "Robotiq_2F_85" ( } } - def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" ( + prepend apiSchemas = ["MaterialBindingAPI"] + ) { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) quatd xformOp:orient = (1, 0, 0, 0) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0, 0, 0) @@ -276,6 +316,12 @@ def Xform "Robotiq_2F_85" ( def Scope "Joints" { } + + def Material "fingertip_material" ( + active = true + ) + { + } } def Scope "VisualMaterials" diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/instances.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/instances.usda index 3e83bb11976818a1fa3b27e3ca97dd6e5dcf0227..a0c512120a324db4793a207673ba8b6cbbfa3120 100644 --- a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/instances.usda +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/instances.usda @@ -158,7 +158,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -183,7 +183,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -208,7 +208,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -233,7 +233,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -258,7 +258,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -283,7 +283,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -308,7 +308,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -333,7 +333,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -358,7 +358,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -383,7 +383,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -408,7 +408,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -473,7 +473,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -606,7 +606,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -631,7 +631,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -796,7 +796,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -821,7 +821,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -846,7 +846,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -871,7 +871,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -896,7 +896,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -956,7 +956,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -981,7 +981,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1071,7 +1071,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1096,7 +1096,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1121,7 +1121,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1146,7 +1146,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1171,7 +1171,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1231,7 +1231,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1256,7 +1256,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } @@ -1321,7 +1321,7 @@ def Xform "Robotiq_2F_85" ( def Shader "SimReadyUV" { token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" + string inputs:varname = "st" float2 outputs:result } } diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/materials.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/materials.usda index fde12744678d1c04d1598e0dfa0a92974c14af0b..55a6257f4ef4cabd532e99baab4b462bc3ada3ce 100644 --- a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/materials.usda +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/materials.usda @@ -17,21 +17,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -64,9 +65,18 @@ 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 "Stack" @@ -76,21 +86,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -123,9 +134,18 @@ 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 "Chateau_Green" @@ -135,21 +155,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -182,9 +203,18 @@ 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 "Gravel" @@ -194,21 +224,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -241,9 +272,18 @@ 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 "Silver_Rust" @@ -253,21 +293,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -300,9 +341,18 @@ 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 "Gallery" @@ -312,21 +362,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -359,9 +410,18 @@ 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 "Blue_Ribbon" @@ -371,21 +431,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -418,9 +479,18 @@ 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 "Dawn" @@ -430,21 +500,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -477,9 +548,18 @@ 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 "White" @@ -489,21 +569,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -536,9 +617,18 @@ 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" @@ -548,21 +638,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -595,9 +686,18 @@ 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 "Mystic" @@ -607,21 +707,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "paint" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -654,9 +755,18 @@ 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 "Pumice" @@ -666,21 +776,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -713,9 +824,18 @@ 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 "Periwinkle_Gray" @@ -725,21 +845,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -772,9 +893,18 @@ 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 "Celeste" @@ -784,21 +914,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -831,9 +962,18 @@ 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 "Rangoon_Green" @@ -843,21 +983,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -890,9 +1031,18 @@ 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 "Nobel" @@ -902,21 +1052,22 @@ def Scope "Materials" custom token omni:simready:nonvisual:coating = "none" token outputs:displacement ( displayGroup = "Outputs" - doc = '''Represents the universal "displacement" output terminal of a + doc = '''Represents the universal "displacement" output terminal of a \r material.''' ) 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" - doc = '''Represents the universal "surface" output terminal of a + doc = '''Represents the universal "surface" output terminal of a\r material.''' ) token outputs:surface.connect = token outputs:volume ( displayGroup = "Outputs" - doc = '''Represents the universal "volume" output terminal of a + doc = '''Represents the universal "volume" output terminal of a\r material.''' ) @@ -949,9 +1100,18 @@ 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/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/robot.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/robot.usda index 41928119a41b6122d2c758adf26790a57491275f..5b3d590614d696afff959643761ef6f6aab600e3 100644 --- a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/robot.usda +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/payloads/robot.usda @@ -13,7 +13,8 @@ over "Robotiq_2F_85" ( displayName = "Namespace" doc = "Namespace of the prim in Isaac Sim" ) - rel isaac:physics:robotJoints = [ + prepend rel isaac:physics:robotJoints = [ + , , , , @@ -21,7 +22,7 @@ over "Robotiq_2F_85" ( , , ] - rel isaac:physics:robotLinks = [ + prepend rel isaac:physics:robotLinks = [ , , , @@ -94,6 +95,12 @@ over "Robotiq_2F_85" ( over "Joints" { + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + over "finger_joint" ( prepend apiSchemas = ["IsaacJointAPI"] ) diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/runnables/physics/mujoco.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..d8df34088498d1069d387805eb65228103656a5b --- /dev/null +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/runnables/physics/mujoco.usda @@ -0,0 +1,288 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_85" +) + +def "Robotiq_2F_85" +{ + over "base_link" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_basestep_01" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "left_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "Joints" + { + over "finger_joint" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_Robotiq_2F_85_Joints_finger_joint" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -171.88733853924697, -0.011459155613133837] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 26 + double mjc:forceRange:min = -26 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/runnables/physics/newton.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..511c5cf904bf2fe85e0d8c8b1646f5e2c0cf73e5 --- /dev/null +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/runnables/physics/newton.usda @@ -0,0 +1,299 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_85" +) + +over "Robotiq_2F_85" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] +) +{ + bool newton:selfCollisionEnabled = 0 + + over "base_link" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_basestep_01" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "Joints" + { + over "finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 6.66 + float newton:armature = 0.1 + float newton:damping = 0.222 + float newton:velocityLimit = 146.46 + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + } +} + diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/runnables/physics/physx.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/runnables/physics/physx.usda index b6caa7ab4235b3b152b3932eda9cb80a22c66dbb..1f77346f2d3436d058d5f842fc3f8829d5782538 100644 --- a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/runnables/physics/physx.usda +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/runnables/physics/physx.usda @@ -22,7 +22,7 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] ) { - float physxJoint:armature = 0.0001 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 146.46 float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -32,11 +32,14 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] ) { - float physxJoint:armature = 0.0001 + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 10000 - float physxMimicJoint:rotZ:dampingRatio = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 float physxMimicJoint:rotZ:gearing = -1 - float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 rel physxMimicJoint:rotZ:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -46,10 +49,14 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 10000 - float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -59,10 +66,14 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 10000 - float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -72,10 +83,14 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 10000 - float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -85,10 +100,14 @@ over "Robotiq_2F_85" ( prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] ) { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 float physxJoint:maxJointVelocity = 10000 - float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:dampingRatio = 1 float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 rel physxMimicJoint:rotX:referenceJoint = float state:angular:physics:position = 0 float state:angular:physics:velocity = 0 @@ -101,8 +120,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_basestep_01" { - over "Defeatured_2F_85_PAD_OPEN_basestep" ( - ) + over "Defeatured_2F_85_PAD_OPEN_basestep" { over "Defeatured_2F_85_PAD_OPEN_basestep" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -121,8 +139,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" { - over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_Finger1step" { over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -141,8 +158,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" { - over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_Finger1step" { over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -161,8 +177,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_finger2step_01" { - over "Defeatured_2F_85_PAD_OPEN_finger2step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_finger2step" { over "Defeatured_2F_85_PAD_OPEN_finger2step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -181,8 +196,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_finger2step_01" { - over "Defeatured_2F_85_PAD_OPEN_finger2step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_finger2step" { over "Defeatured_2F_85_PAD_OPEN_finger2step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -265,8 +279,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_finger3step_01" { - over "Defeatured_2F_85_PAD_OPEN_finger3step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_finger3step" { over "Defeatured_2F_85_PAD_OPEN_finger3step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -285,8 +298,7 @@ over "Robotiq_2F_85" ( { over "Defeatured_2F_85_PAD_OPEN_finger3step_01" { - over "Defeatured_2F_85_PAD_OPEN_finger3step" ( - ) + over "Defeatured_2F_85_PAD_OPEN_finger3step" { over "Defeatured_2F_85_PAD_OPEN_finger3step" ( prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] @@ -298,5 +310,14 @@ over "Robotiq_2F_85" ( } } } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + bool physxMaterial:compliantContactAccelerationSpring = 0 + float physxMaterial:compliantContactStiffness = 0 + uniform token physxMaterial:frictionCombineMode = "max" + } } diff --git a/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85.usda b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85.usda new file mode 100644 index 0000000000000000000000000000000000000000..369e957604653fb46a895411410e5719e9449795 --- /dev/null +++ b/universalrobots_ur12e/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85.usda @@ -0,0 +1,1804 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_85" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_85" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_85" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-11-02T07:57:11.084680+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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + 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 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + 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 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 = 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/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_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/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + 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 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 = 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/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + 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/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.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/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + 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/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-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + dictionary "2026-11-01" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.075, 0.15448326, 0.15177661) + string asset_license = "CC-BY-4.0" + string asset_name = "Robotiq_2F_85" + string asset_type = "robot" + string author = "Robotiq" + string category = "robot end effector" + double mass = 0.2617397094145417 + string qcode = "Q1340324" + int rigid_body_count = 9 + string source_file = "Robotiq/2F-85/Robotiq_2F_85.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "Robotiq_2F_85" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Xform "Robotiq_2F_85" ( + kind = "component" + prepend references = [ + @./payloads/Physics/Physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + } + prepend variantSets = ["PhysX", "Newton", "MuJoCo"] +) +{ + string isaac:namespace ( + displayName = "Namespace" + doc = "Namespace of the prim in Isaac Sim" + ) + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "base_link" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "left_outer_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "left_outer_finger" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "left_inner_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "right_outer_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "right_outer_finger" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "right_inner_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/universalrobots_ur12e/payloads/Gripper/Robotiq_2F_140.usda b/universalrobots_ur12e/payloads/Gripper/Robotiq_2F_140.usda index d0f0fe57b4e39fb0ca7675b292687814415e678d..b7d2850442ff35a682c03382235a800e3c7702ed 100644 --- a/universalrobots_ur12e/payloads/Gripper/Robotiq_2F_140.usda +++ b/universalrobots_ur12e/payloads/Gripper/Robotiq_2F_140.usda @@ -9,7 +9,7 @@ def Xform "ur10e" { def "Robotiq_2F_140" ( delete apiSchemas = ["PhysicsArticulationRootAPI"] - prepend payload = @../../dependencies/simready_Robotiq_2F-140/Robotiq_2F_140.usda@ + prepend payload = @../../dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140.usda@ ) { float3 xformOp:rotateZYX = (-1.2722217e-14, 1.2722219e-14, 89.99999) @@ -19,6 +19,8 @@ def Xform "ur10e" over "robotiq_base_link" { + double3 xformOp:translate = (0, 0, 0) + def PhysicsFixedJoint "AssemblerFixedJoint" { rel physics:body0 = @@ -30,6 +32,12 @@ def Xform "ur10e" } } + over "root_joint" ( + active = false + ) + { + } + over "finger_joint" { } @@ -72,34 +80,42 @@ def Xform "ur10e" over "left_outer_knuckle" { + double3 xformOp:translate = (-0.00024200000540691987, 3.8771718906765497e-14, -7.789376034500418e-17) } over "left_outer_finger" { + double3 xformOp:translate = (-0.00024200000786084308, 3.655629602850554e-12, -7.789376033945457e-17) } over "left_inner_finger" { + double3 xformOp:translate = (0, 0, 0) } over "left_inner_knuckle" { + double3 xformOp:translate = (-0.00024200000572815547, 1.4956748502000008e-12, 1.9950118327902315e-17) } over "right_outer_knuckle" { + double3 xformOp:translate = (-0.0002420000054116942, 4.67488709051141e-14, 8.909694415218707e-17) } over "right_outer_finger" { + double3 xformOp:translate = (-0.0002420000078527243, -3.559458363235193e-12, 1.1461181571471843e-16) } over "right_inner_finger" { + double3 xformOp:translate = (0, 0, 0) } over "right_inner_knuckle" { + double3 xformOp:translate = (-0.0002420000057306303, -1.3997540118790104e-12, -1.370351929938986e-17) } } diff --git a/universalrobots_ur12e/payloads/Gripper/Robotiq_2F_85.usda b/universalrobots_ur12e/payloads/Gripper/Robotiq_2F_85.usda index 6ad886a46c6ace841d4c3bfc9ab51b2e550eef93..a67cdcac43137dae485898a6b55d984071e0b5c9 100644 --- a/universalrobots_ur12e/payloads/Gripper/Robotiq_2F_85.usda +++ b/universalrobots_ur12e/payloads/Gripper/Robotiq_2F_85.usda @@ -9,7 +9,7 @@ def Xform "ur10e" { def "Robotiq_2F_85" ( delete apiSchemas = ["PhysicsArticulationRootAPI"] - prepend payload = @../../dependencies/simready_Robotiq_2F-85/Robotiq_2F_85.usda@ + prepend payload = @../../dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85.usda@ ) { float3 xformOp:rotateZYX = (-90.00001, 2.2263883e-14, -90) @@ -32,6 +32,12 @@ def Xform "ur10e" over "Joints" { + over "root_joint" ( + active = false + ) + { + } + over "finger_joint" { } diff --git a/universalrobots_ur12e/payloads/materials.usda b/universalrobots_ur12e/payloads/materials.usda index 92dfc6457e7c6a985e8bbec143c28b1fff596cb6..7c9e6fbcd40f48e0da9c2d3c6c3bc4aef0796496 100644 --- a/universalrobots_ur12e/payloads/materials.usda +++ b/universalrobots_ur12e/payloads/materials.usda @@ -22,7 +22,7 @@ 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" ) @@ -116,7 +116,7 @@ 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) @@ -137,7 +137,7 @@ 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" ) @@ -231,7 +231,7 @@ 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) @@ -249,8 +249,8 @@ 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" ) @@ -258,7 +258,7 @@ def Scope "Materials" displayGroup = "Outputs" ) - def Shader "AgentfixMdlSurface" + def Shader "simready_mdl_surfaceshader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ @@ -267,7 +267,7 @@ 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) @@ -288,7 +288,7 @@ 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" ) @@ -382,7 +382,7 @@ 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) @@ -403,7 +403,7 @@ 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" ) @@ -445,7 +445,7 @@ 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_ur12e/ur12e.usda b/universalrobots_ur12e/ur12e.usda index 00107a2934e678d9b489ed8e0625475fc4c794ec..6475d321bf9a5083087c98e5c487165fdf931de7 100644 --- a/universalrobots_ur12e/ur12e.usda +++ b/universalrobots_ur12e/ur12e.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/universalrobots_ur16e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur16e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 8b7319460f119b03291c79cdff958a1f4c2ae0a9..08916aa86b068ecd99e047dd9fee39af564e6e74 100644 --- a/universalrobots_ur16e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur16e/.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": "2026-10-26T18:21:02", + "timestamp": "2026-11-02T23:12:46", "assets": [ { "asset": "ur16e.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": "9827c56d68032e58cce1fb7cdd0880006fdcabd71c82d617140331ac2f77063e" + "sha256": "d5154dc3cb0d157fde7fd5693b06070ea0c483482ab7d7c44774a816e53588f6" } } diff --git a/universalrobots_ur16e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/universalrobots_ur16e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..912d94ff053d7753a8c37b1b73c520c78bc8ed7c 100644 --- a/universalrobots_ur16e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/universalrobots_ur16e/.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": "2026-11-02T23:12:48", "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_ur16e/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur16e/.metadata/com.nvidia.simready.packaging.bom.json index 6d16086192e9bd88dadb66cb313f5a68289d05e5..afbfa544bab7078d394a493b221ed8fd3b8e21f8 100644 --- a/universalrobots_ur16e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur16e/.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_ur16e/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/universalrobots_ur16e/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 48765, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "a538045b0ed83ae68b56610d4f1271eff5f0e0c086f2e5bb81d6c3d968a402f4", + "sha256": "59a4f7d0bc91bfc0d8ca2b3265fdb441af9c0ebb67657e460b69ac96e0ab5fbc" } }, { @@ -18,14 +18,6 @@ "sha256": "b62b6f940220a830b8d362288404b6f98381e62b406c9afa2d6f0f7651d8c26a" } }, - { - "relative_path": ".thumbs/ur16e.thumb.usd", - "size": 6122, - "hash": { - "sha256-flat-1mb": "316374e6c07df1173aca8e458adcb5ff5c8c8ae8892b8f6688bdeb77267f9c62", - "sha256": "c26519fbbd338fa9b596be709852ba415588e2648523810e9adcc5a233359dc8" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 28997, + "size": 29037, "hash": { - "sha256-flat-1mb": "d41a465bb0bae39be99cbf6f9bce084f1d77ac8994a5ea5485498b91d88fadf9", - "sha256": "80d5dc2164136d6c6ddf08438d0f9a926f45ce7589f377f80dd595f7f2965375" + "sha256-flat-1mb": "bea3f046c5fd9c2fbfdf29e9c41820ac26771313f01a29897eaf0e5d9e5cf9ae", + "sha256": "106a41cff66d094b1aaf59a3e361cd6f5fa94ee485a7d977d6c15ccf5bdfec9a" } }, { @@ -197,11 +189,11 @@ }, { "relative_path": "ur16e.usda", - "size": 16097, + "size": 80590, "hash": { - "sha256-flat-1mb": "cd48a6bda3984c1d42c4138ca53c38a272f95e40710f1d57a993d96716d9b1b1", - "sha256": "821dd6a0ab0f91cc29fb9b7d04abf327eb7d0d6bdbd468aff99fdbebd11ad5da" + "sha256-flat-1mb": "a356c652be17ce86d924ba2fd452d64ef03ac60ba92b8296d8e82823f05d7601", + "sha256": "4c7dc256a74d2c8699bc95c4ae0e4ef96f65edd3b76c5691067e4b114cc372de" } } ] -} +} \ No newline at end of file diff --git a/universalrobots_ur16e/.simready/validation.json b/universalrobots_ur16e/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..3f87c16eaef79ec5f2e82a56947559406fd6f701 100644 --- a/universalrobots_ur16e/.simready/validation.json +++ b/universalrobots_ur16e/.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 +218,941 @@ } } } + }, + "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": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.0" + } + }, + "status": "pass" + }, + "isaac_sim_newton": { + "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": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.0" + } + }, + "status": "pass" + } + }, + "contract_id": "FET006_Materials.MDL.0-2-0", + "display_name": "Materials (MDL)", + "family": "FET006", + "runtime": "MDL", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + 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"foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + } + } + } } } } diff --git a/universalrobots_ur16e/.thumbs/ur16e.thumb.usd b/universalrobots_ur16e/.thumbs/ur16e.thumb.usd deleted file mode 100644 index a4257bb189cb0c47125a3229203958728761e4bb..0000000000000000000000000000000000000000 Binary files a/universalrobots_ur16e/.thumbs/ur16e.thumb.usd and /dev/null differ diff --git a/universalrobots_ur16e/com.nvidia.simready.packaging.json b/universalrobots_ur16e/com.nvidia.simready.packaging.json index e2257fcc8a069316690f222d0a11e547a275c7f4..bf47f66aa5bb9e1fa20d3ef875f4adc06a0d566d 100644 --- a/universalrobots_ur16e/com.nvidia.simready.packaging.json +++ b/universalrobots_ur16e/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur16e.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur16e.3.0.0", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "ac176d36f511eae4fff75aa36093e97c88f23f2a90cba3bf3c0ee45d68eb46cb" + "sha256": "d1c7f7ec660323dab3aa3b33bf2df6f6a7dd55b7e0ee8c5b5e2db899519c71bc" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "539d42b33a1497215c4fb1188942f1905e1b2484e826f801f2f592a996a02ab7" + "sha256": "8cecf815a21406d99f085a6817734ff1a5f2755ad9a633577a8b2c845743cbc5" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "8efa659a1cdad4ee566fcd658b2c28781a666535d8e0652230e820f9d49faf7f" + "sha256": "d5154dc3cb0d157fde7fd5693b06070ea0c483482ab7d7c44774a816e53588f6" }, "package_hash": { - "sha256": "fc3d13952fd6f88abf15e80e1cb4f51d5041ac218e2512194804e2a5d8e8c816" + "sha256": "a6636d95d5c05c16dcbadae9b9446188283001fa068ec749610d5c32b219efa4" } } diff --git a/universalrobots_ur16e/payloads/materials.usda b/universalrobots_ur16e/payloads/materials.usda index 0ff72c5a9083b31efe92f4d0457e55aa074fdd1c..df6aa6b5a2c000bf3ed1df7d01b6cd3f050cbb38 100644 --- a/universalrobots_ur16e/payloads/materials.usda +++ b/universalrobots_ur16e/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_ur16e/ur16e.usda b/universalrobots_ur16e/ur16e.usda index eb3d077bcf0c3ed3c825d8fa1ddaab157e2a0d83..d538486c22351410f12f8170f3135d1a83bab988 100644 --- a/universalrobots_ur16e/ur16e.usda +++ b/universalrobots_ur16e/ur16e.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_ur20/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur20/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 109de3e380141c274741990d568cb1da2d7fdd42..aa2ef93a1dd20a69ce88ae4734c104f13962cc32 100644 --- a/universalrobots_ur20/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur20/.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": "2026-10-26T18:21:04", + "timestamp": "2026-11-02T23:12:49", "assets": [ { "asset": "ur20.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": "9a9bd6f828d68cd03a5a8907731c9969d3412d061294133534bf67d5c2eef7ad" + "sha256": "b369d380cdf9bed7143a1761d519fd5c600df003efca04284745a8305de1fb30" } } diff --git a/universalrobots_ur20/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/universalrobots_ur20/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..69945ebb51f76191a07e495b9767064658ae176f 100644 --- a/universalrobots_ur20/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/universalrobots_ur20/.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": "2026-11-02T23:12:50", "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_ur20/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur20/.metadata/com.nvidia.simready.packaging.bom.json index 3c7667b329614558de432926d62f0070da2bdaec..576258b9878fbeee3c8dd9c116556b6b74191023 100644 --- a/universalrobots_ur20/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur20/.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_ur20/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/universalrobots_ur20/3.0.0", "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": "bc8e2f17416863235e665489cac3e6536db6ec3ab3bf7b10625aed6156aa5425" } }, - { - "relative_path": ".thumbs/ur20.thumb.usd", - "size": 6121, - "hash": { - "sha256-flat-1mb": "e1f8b9c61abd908d9cee758405851d3b5b6b9a960b648de852b5c30c8b029a48", - "sha256": "f25fe00026f8eeac802b9427412af370b67d408e4282fe1c27b000724e005d5b" - } - }, { "relative_path": "Textures/UR20_DIFF_8bit_2K.png", "size": 1561213, @@ -166,10 +158,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 43740, + "size": 43812, "hash": { - "sha256-flat-1mb": "059eadf3f5870ac0bed63f867868748b51f20c341e33200483df799f7a0717da", - "sha256": "5825d8feed9c1afdada01b334667e6a2b2c70c017f5c6e07a33ab202190a33e7" + "sha256-flat-1mb": "03db951c6cfc8aa738782638df09f99148fcf8c89a3c7f57c76e62038a218dcc", + "sha256": "284d0cc022c13d3ec55789588bae7bf88f8faf91e2c44ce57c5c5ea0886065ee" } }, { @@ -206,11 +198,11 @@ }, { "relative_path": "ur20.usda", - "size": 16137, + "size": 81683, "hash": { - "sha256-flat-1mb": "7d4cbaa489f90d8547bb26b0fed8bd91e4610541737281d70afbe390cd7ce498", - "sha256": "a4ee34c702be22000ddcec413e9001bb14eed1e94f020934f87495e3524921b2" + "sha256-flat-1mb": "e6207d88adac5b96a789b8daf91fced06e0feab85ab23396405a45a5133e2d13", + "sha256": "03292eda231aac26e645de6b8eaf15f215932e72d949ef71d0f890e1b0e20756" } } ] -} +} \ No newline at end of file diff --git a/universalrobots_ur20/.simready/validation.json b/universalrobots_ur20/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..fab0718f28b8c7b0b3236989a9e0a1d8def353ea 100644 --- a/universalrobots_ur20/.simready/validation.json +++ b/universalrobots_ur20/.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": 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"/.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_ur20/.thumbs/ur20.thumb.usd b/universalrobots_ur20/.thumbs/ur20.thumb.usd deleted file mode 100644 index 934ced1f1ceb8509c4e819817202abe65bbdf80b..0000000000000000000000000000000000000000 Binary files a/universalrobots_ur20/.thumbs/ur20.thumb.usd and /dev/null differ diff --git a/universalrobots_ur20/com.nvidia.simready.packaging.json b/universalrobots_ur20/com.nvidia.simready.packaging.json index 2f8f92cddda9a67f83718bb056a95837264ac5a4..396f0d075b4c4e9406c41c10ee0ab1412c67af15 100644 --- a/universalrobots_ur20/com.nvidia.simready.packaging.json +++ b/universalrobots_ur20/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur20.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur20.3.0.0", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "51ceba392058ded009671d2482a224e4c3ebb4eb062bb932a7d9195d0d0a76b9" + "sha256": "a7b6819dc4b5f063463482a1b20db9af534708bb1088201b173387fab58dae5e" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "483b27ef80b7330135430824fa28c53d105a1dc1a4b696cca467ad5984665eda" + "sha256": "0f23aee1c82677a147ba005cee457682a44e0c815eb3001a0ee743c79778c7c4" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "d4c51260750411cf7143aaa32d7cdbd291f23a65c1f0d27fd6af5180151ff872" + "sha256": "b369d380cdf9bed7143a1761d519fd5c600df003efca04284745a8305de1fb30" }, "package_hash": { - "sha256": "685ac08685d42a81c0ff7cdd6dd3771f5b843755a9309c8991191768e2124c83" + "sha256": "22c643511ec98b912705850c9aa1017a3a75a21a3e1cde756ec59a89b49601af" } } diff --git a/universalrobots_ur20/payloads/materials.usda b/universalrobots_ur20/payloads/materials.usda index 48974c28fe82ca21099d251d05df1741ec01c321..38af69311ca2c09722e24056a0f0c31d83378da0 100644 --- a/universalrobots_ur20/payloads/materials.usda +++ b/universalrobots_ur20/payloads/materials.usda @@ -18,7 +18,7 @@ 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" ) @@ -179,7 +179,7 @@ def Scope "Materials" float3 outputs:rgb } - 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) @@ -197,7 +197,7 @@ 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" ) @@ -291,7 +291,7 @@ 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) @@ -312,7 +312,7 @@ 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" ) @@ -406,7 +406,7 @@ 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) @@ -427,7 +427,7 @@ 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" ) @@ -522,7 +522,7 @@ 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) @@ -543,7 +543,7 @@ 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" ) @@ -637,7 +637,7 @@ 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) @@ -658,7 +658,7 @@ 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" ) @@ -799,7 +799,7 @@ 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) @@ -820,7 +820,7 @@ 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" ) @@ -914,7 +914,7 @@ 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) @@ -935,7 +935,7 @@ 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" ) @@ -1029,7 +1029,7 @@ 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) @@ -1050,7 +1050,7 @@ 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" ) @@ -1191,7 +1191,7 @@ 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_ur20/ur20.usda b/universalrobots_ur20/ur20.usda index 2efd157dbdd54c804a3c3662f4ee39c28dbb3743..e813a3940b46c5e90ac6a631b39d0693cabb4894 100644 --- a/universalrobots_ur20/ur20.usda +++ b/universalrobots_ur20/ur20.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/universalrobots_ur3/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur3/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index c8749fe908c46a124230c69dbc07d899d79d5342..96ae29e6cf96fe5cbeb2f8e1ac4437154faca079 100644 --- a/universalrobots_ur3/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur3/.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": "2026-10-26T18:21:05", + "timestamp": "2026-11-02T23:12:51", "assets": [ { "asset": "ur3.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": "270a7f17d60bd9123c06189070b886084b7d983940a1554be17db8d38a32eff4" + "sha256": "db0b0dd11ddd051f12528c7407b2defcebb49f24a4a9fa63548f9ec2ab968137" } } diff --git a/universalrobots_ur3/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/universalrobots_ur3/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..344efc9dc64c59960d0fb89ad4c2981615153457 100644 --- a/universalrobots_ur3/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/universalrobots_ur3/.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": "2026-11-02T23:12:53", "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_ur3/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur3/.metadata/com.nvidia.simready.packaging.bom.json index aa517384bf7d1bd35a432cc0e1f8995972f60b39..994e9b127b1a15fe68a4f2d9ed7f8ffa52e9e40a 100644 --- a/universalrobots_ur3/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur3/.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_ur3/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/universalrobots_ur3/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 48765, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "a538045b0ed83ae68b56610d4f1271eff5f0e0c086f2e5bb81d6c3d968a402f4", + "sha256": "59a4f7d0bc91bfc0d8ca2b3265fdb441af9c0ebb67657e460b69ac96e0ab5fbc" } }, { @@ -18,14 +18,6 @@ "sha256": "2d8b5062ca11f305bb81a54f9e7160e30275c7b0eacf60241488eef89a7cc111" } }, - { - "relative_path": ".thumbs/ur3.thumb.usd", - "size": 6120, - "hash": { - "sha256-flat-1mb": "ed86d8c486eecdd5c68305c6b9cb86d10cf10e30e39d0bb3d216269caec6bd54", - "sha256": "c61d6271d0630b4c85842a11ed75c0ba0d062b536e5397feef21cd19fe1b96eb" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -158,10 +150,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 52095, + "size": 52167, "hash": { - "sha256-flat-1mb": "5d310129f613923584b6b21bb67a486b2d4aa75a73732c3534809155554b1529", - "sha256": "63475458995f4ec99d34b8ec3151d1c69dc982e2d6ef59acad283ea09a7907d7" + "sha256-flat-1mb": "756ad0f65b5f50bbfb3a1937f52bc30f6ba4a30e529dce1be293ebc362eb4868", + "sha256": "5607e2a5f3c7d3e0449d03a57c54c1aabefa34b6ba77a555d869686c2c03bab2" } }, { @@ -182,10 +174,10 @@ }, { "relative_path": "runnables/physics/newton.usda", - "size": 5036, + "size": 4973, "hash": { - "sha256-flat-1mb": "ec1cbb27bc788069cea028e57a6981e7d068855761489707de3bf3a8cd468e64", - "sha256": "0e708e0b06b86f1decdd3acb2031d16be53b5a750cb377f972789797fd4e6a15" + "sha256-flat-1mb": "17330fa25b518d8787630762b8e2d6260f1bb4a2d2ffabaf87fe39666934606d", + "sha256": "c8bf84e073fba30aae00c1483b2deeabaa419c03b52f891f1163ece57b22da4d" } }, { @@ -198,11 +190,11 @@ }, { "relative_path": "ur3.usda", - "size": 16082, + "size": 80575, "hash": { - "sha256-flat-1mb": "3860643b7356665680824b529cb56b80bef3edc78cefce97824d0deb3412cc30", - "sha256": "2372d6a1b3b3ea24567c190a8992283cdd837d47ef5720a3eef0568f4cebb062" + "sha256-flat-1mb": "c3d68930e00deda6fdaaf31e7506b0ecf0d496530c672bf92fa7ee31eb18386f", + "sha256": "67739860f12aa7bc933f045f6961476937cbb910a0b525c6d75661b0346d5b74" } } ] -} +} \ No newline at end of file diff --git a/universalrobots_ur3/.simready/validation.json b/universalrobots_ur3/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..3f87c16eaef79ec5f2e82a56947559406fd6f701 100644 --- a/universalrobots_ur3/.simready/validation.json +++ b/universalrobots_ur3/.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 +218,941 @@ } } } + }, + "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", + 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"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": "pass" + } + }, + "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_ur3/.thumbs/ur3.thumb.usd b/universalrobots_ur3/.thumbs/ur3.thumb.usd deleted file mode 100644 index 76abd6d4822d119bc2dbda76d78aff20f1a8e387..0000000000000000000000000000000000000000 Binary files a/universalrobots_ur3/.thumbs/ur3.thumb.usd and /dev/null differ diff --git a/universalrobots_ur3/com.nvidia.simready.packaging.json b/universalrobots_ur3/com.nvidia.simready.packaging.json index 0530eb649cd42ea2d0a3982e8ee5c941ee964828..32ecc0d28f83933c7ff10b8998d2aab07c76e5d9 100644 --- a/universalrobots_ur3/com.nvidia.simready.packaging.json +++ b/universalrobots_ur3/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur3.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur3.3.0.0", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "0693eb36dd2eb5e1fbcf5262e6c7423aa6c2cef1f0583e75704214d00c6f4683" + "sha256": "50dbfbe89b46fc273b9966d76425bd4baa10cae75b34de9d069da4b79fea8b78" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "9c89a52efb8ab0687ed1a2bd5144495ff4018e45a7a0a7a4b2e101f65034957c" + "sha256": "c18dd12b9b21a01ae56779c0fed327ef60d54cb178ac61c08ab5a098ca886384" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "66d69796db3607a28198e123f69611c865f12ed219cc75455df53debfa921307" + "sha256": "db0b0dd11ddd051f12528c7407b2defcebb49f24a4a9fa63548f9ec2ab968137" }, "package_hash": { - "sha256": "8c4889e49e50d7666f3aa86baa5edcdb1bfa01bef2ada45cd137099e277bc079" + "sha256": "7e0c566579362251685e9ce49d40e214c4d6c7d652d6d38dcfd6d4c7fd66c33e" } } diff --git a/universalrobots_ur3/payloads/materials.usda b/universalrobots_ur3/payloads/materials.usda index dfe2b0fabd9d346b0125216bcd0a686df897fb70..5835dbdb303ee8a9f19dbaecce4c0bbd2aaa8671 100644 --- a/universalrobots_ur3/payloads/materials.usda +++ b/universalrobots_ur3/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) @@ -831,7 +831,7 @@ 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" ) @@ -972,7 +972,7 @@ 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) @@ -993,7 +993,7 @@ 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" ) @@ -1134,7 +1134,7 @@ 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) @@ -1155,7 +1155,7 @@ 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" ) @@ -1296,7 +1296,7 @@ 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) @@ -1317,7 +1317,7 @@ 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" ) @@ -1458,7 +1458,7 @@ 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_ur3/runnables/physics/newton.usda b/universalrobots_ur3/runnables/physics/newton.usda index 8ac95fa532a51a997bb9a038a67e860fc2ecee3f..8daaa6395583c7a458e108b1312ba3047b2f9b7b 100644 --- a/universalrobots_ur3/runnables/physics/newton.usda +++ b/universalrobots_ur3/runnables/physics/newton.usda @@ -15,7 +15,7 @@ over "ur3" prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { - uniform token physics:approximation = "convexDecomposition" + uniform token physics:approximation = "convexHull" } } } @@ -31,7 +31,7 @@ over "ur3" prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { - uniform token physics:approximation = "convexDecomposition" + uniform token physics:approximation = "convexHull" } } } @@ -47,7 +47,7 @@ over "ur3" prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { - uniform token physics:approximation = "convexDecomposition" + uniform token physics:approximation = "convexHull" } } } @@ -63,7 +63,7 @@ over "ur3" prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { - uniform token physics:approximation = "convexDecomposition" + uniform token physics:approximation = "convexHull" } } } @@ -79,7 +79,7 @@ over "ur3" prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { - uniform token physics:approximation = "convexDecomposition" + uniform token physics:approximation = "convexHull" } } } @@ -95,7 +95,7 @@ over "ur3" prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { - uniform token physics:approximation = "convexDecomposition" + uniform token physics:approximation = "convexHull" } } } @@ -111,7 +111,7 @@ over "ur3" prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { - uniform token physics:approximation = "convexDecomposition" + uniform token physics:approximation = "convexHull" } } } diff --git a/universalrobots_ur3/ur3.usda b/universalrobots_ur3/ur3.usda index c9d75d0cc95f86aa7d18dfb5d72888185fddb3df..17d57b4dcab245ca5089d50e2df5a42a5686406e 100644 --- a/universalrobots_ur3/ur3.usda +++ b/universalrobots_ur3/ur3.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_ur30/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur30/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index dc17318eca1894d8f8b46838e289c95d4999fb28..48101d306576942f727c5b6f91112c5d1bd5b620 100644 --- a/universalrobots_ur30/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur30/.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": "2026-10-26T18:21:07", + "timestamp": "2026-11-02T23:12:54", "assets": [ { "asset": "ur30.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": "bd2df5c387ecfd102454e4736a3fd33d4a93b2b92e8718f47cc293f717b15db1" + "sha256": "d465efcd9471a34196960e60858779f611df0ded1a5322981a2a83c2388dddc0" } } diff --git a/universalrobots_ur30/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/universalrobots_ur30/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..20d39ff52b64580a0532131be253fc99b9a0f69f 100644 --- a/universalrobots_ur30/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/universalrobots_ur30/.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": "2026-11-02T23:12:56", "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_ur30/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur30/.metadata/com.nvidia.simready.packaging.bom.json index 73433a3f0bc6a7a8718895128bc6449ef9af335f..2759d6db634e9fd3ef5962e8a594cfa03f5ab350 100644 --- a/universalrobots_ur30/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur30/.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_ur30/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/universalrobots_ur30/3.0.0", "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": "1f6d6e954493dba732fc0059a94d978e312801196544cca42e624c4159515d9a" } }, - { - "relative_path": ".thumbs/ur30.thumb.usd", - "size": 6121, - "hash": { - "sha256-flat-1mb": "14ebcf18fff9fffa48d733e4228e5a46f5cc28bf5927e7f8205d33204421aa94", - "sha256": "2f0cc5f35ec9c9530f83940be93a7289646305d2aad3e210cf4e537841381f14" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 26961, + "size": 27033, "hash": { - "sha256-flat-1mb": 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"display_name": "Simulate Multi-Body Physics (Robot Newton)", + "family": "FET004", + "runtime": "RobotNewton", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + } + } + } } } } diff --git a/universalrobots_ur30/.thumbs/ur30.thumb.usd b/universalrobots_ur30/.thumbs/ur30.thumb.usd deleted file mode 100644 index fa64c4c5cdfd8310ff8c690061f70dae61172c14..0000000000000000000000000000000000000000 Binary files a/universalrobots_ur30/.thumbs/ur30.thumb.usd and /dev/null differ diff --git a/universalrobots_ur30/com.nvidia.simready.packaging.json b/universalrobots_ur30/com.nvidia.simready.packaging.json index e1ad6cae3401941804d460b7292d958ea5b55fd9..b111a661c90690a606db57e0a2760342b649b166 100644 --- a/universalrobots_ur30/com.nvidia.simready.packaging.json +++ b/universalrobots_ur30/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur30.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur30.3.0.0", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "cd285b5ba0c8021150de350aa6eefadeccd3bf1636255a78b0b20c6ef623f440" + "sha256": "1f64b21414f1c7b37dd1dc3fdfd9a9b9b7a9ebc5389c9d040d9d3504d947b5ca" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "f5544ead9df9182551897065a619ff4a4e5c14512580daa56e62e391a24dbf42" + "sha256": "6bf430a53f2aeb32f2de831872aaa1150ff23910f6c11b11b2aac0ca20411765" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "d90d8a01e83ac319eec8a56677a8b12b9ca1c2384364b78cd198839fe8f6804a" + "sha256": "d465efcd9471a34196960e60858779f611df0ded1a5322981a2a83c2388dddc0" }, "package_hash": { - "sha256": "e1828fa174300a691d5b91f3ca1d16dbf5ed8f672adc5bd313fa981b2e15e507" + "sha256": "110d04c0b3d17b8b55686273d3735459d1ec261c3c30be7419cc5ad669980363" } } diff --git a/universalrobots_ur30/payloads/materials.usda b/universalrobots_ur30/payloads/materials.usda index 371481f667f3500f520a8dfaadeaa4d41b251683..ff6326e424d0f1ca53e5c277f3bc7587639e121a 100644 --- a/universalrobots_ur30/payloads/materials.usda +++ b/universalrobots_ur30/payloads/materials.usda @@ -18,7 +18,7 @@ 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" ) @@ -112,7 +112,7 @@ 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) @@ -133,7 +133,7 @@ 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" ) @@ -227,7 +227,7 @@ 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) @@ -248,7 +248,7 @@ 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" ) @@ -342,7 +342,7 @@ 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) @@ -363,7 +363,7 @@ 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" ) @@ -458,7 +458,7 @@ 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) @@ -479,7 +479,7 @@ 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" ) @@ -573,7 +573,7 @@ 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) @@ -591,8 +591,8 @@ 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" ) @@ -600,7 +600,7 @@ def Scope "Materials" displayGroup = "Outputs" ) - def Shader "AgentfixMdlSurface" + def Shader "simready_mdl_surfaceshader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ @@ -609,7 +609,7 @@ 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) @@ -630,7 +630,7 @@ 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" ) @@ -724,7 +724,7 @@ 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_ur30/runnables/physics/newton.usda b/universalrobots_ur30/runnables/physics/newton.usda index 245aa725f03a72fb2648bbfd4667dd8fd683c0d2..0def8a995e9e29f8912fac60859a3b16d29d185e 100644 --- a/universalrobots_ur30/runnables/physics/newton.usda +++ b/universalrobots_ur30/runnables/physics/newton.usda @@ -15,7 +15,7 @@ over "ur30" prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { - uniform token physics:approximation = "convexDecomposition" + uniform token physics:approximation = "convexHull" } } } @@ -31,7 +31,7 @@ over "ur30" prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { - uniform token physics:approximation = "convexDecomposition" + uniform token physics:approximation = "convexHull" } } } @@ -47,7 +47,7 @@ over "ur30" prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { - uniform token physics:approximation = "convexDecomposition" + uniform token physics:approximation = "convexHull" } } } @@ -63,7 +63,7 @@ over "ur30" prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { - uniform token physics:approximation = "convexDecomposition" + uniform token physics:approximation = "convexHull" } } } @@ -79,7 +79,7 @@ over "ur30" prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { - uniform token physics:approximation = "convexDecomposition" + uniform token physics:approximation = "convexHull" } } } @@ -95,7 +95,7 @@ over "ur30" prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] ) { - uniform token physics:approximation = "convexDecomposition" + uniform token physics:approximation = "convexHull" } } } diff --git a/universalrobots_ur30/ur30.usda b/universalrobots_ur30/ur30.usda index 2c5eebd6fadd970ac8363c53bd11c61f5dd612a5..4bafbd591db646a84941b7fb94e8caf346db2e9c 100644 --- a/universalrobots_ur30/ur30.usda +++ b/universalrobots_ur30/ur30.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/universalrobots_ur3e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur3e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 8e3bcc0104d5e1384643e3e8241874dcbdca843f..35dbd682ca8310460b86c6c952558d8739a554a6 100644 --- a/universalrobots_ur3e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur3e/.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": "2026-10-26T18:21:09", + "timestamp": "2026-11-02T23:12:57", "assets": [ { "asset": "ur3e.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": "2ad02125b0720421cecd8b9016e81a22b8308976ad38c80294472bf30ce8bea1" + "sha256": "6d658367f5d7a083b8004eb5695a60d42de18da11ab458ee1cbce3d804bcf642" } } diff --git a/universalrobots_ur3e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/universalrobots_ur3e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..40f110b2ef68cfbb1b6cbadc18741af787ca0f4e 100644 --- a/universalrobots_ur3e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/universalrobots_ur3e/.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": "2026-11-02T23:12:59", "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_ur3e/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur3e/.metadata/com.nvidia.simready.packaging.bom.json index 792970e75d1bf93ad78949409443067e1d35efe6..d5c38658bf4d96da1d44a2b5dc38b4cf743e0837 100644 --- a/universalrobots_ur3e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur3e/.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_ur3e/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/universalrobots_ur3e/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 48765, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "a538045b0ed83ae68b56610d4f1271eff5f0e0c086f2e5bb81d6c3d968a402f4", + "sha256": "59a4f7d0bc91bfc0d8ca2b3265fdb441af9c0ebb67657e460b69ac96e0ab5fbc" } }, { @@ -18,14 +18,6 @@ "sha256": "1cde30f16143f6d1c3ecf9822c146c7423bec1406d73324890c0d3178797342c" } }, - { - "relative_path": ".thumbs/ur3e.thumb.usd", - "size": 6121, - "hash": { - "sha256-flat-1mb": "4333a1b183b5ab31ef6a7807516fb9f11eb2c48ebf1365822088c862487e1963", - "sha256": "bc1f08539873ca92c87ecc87763fcf10094c5840f0b27f9319876c14096f1e3b" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 29025, + "size": 29065, "hash": { - "sha256-flat-1mb": "92563b4562137ff36c875c6db6bd5101528755ce4fa324952f8f225678cc4b44", - "sha256": "25641e3f437a3606b25801de30c5019a29da71d4a48c64b57101c106d747dbc8" + "sha256-flat-1mb": "ed0c6094716310c61b17ea12f5fbec71c4c781e2c4c0ee0fc7e598298f748269", + "sha256": "73f34e85978e90f8e17641c50a41e6f0b24a7995e34f28d6a28120691a72f5a4" } }, { @@ -197,11 +189,11 @@ }, { "relative_path": "ur3e.usda", - "size": 16117, + "size": 80610, "hash": { - "sha256-flat-1mb": "6e508e683f2f6a3307f36f2212e59e7898043480617d2229af2a92a912572165", - "sha256": "c8bbd8baf38a30b397b10726d7ebdfb5c75403e28d8d27476d24f4a4d87d399c" + "sha256-flat-1mb": "1a0bf06aa8c0b410d6f46fc95286d58f2ec76b6e46a2da79f04a6f01ca8e8df9", + "sha256": "d368bb63c60a534b80738cba838fd94b3f54eb81e07e12cdcb1ce7e04a0753fc" } } ] -} +} \ No newline at end of file diff --git a/universalrobots_ur3e/.simready/validation.json b/universalrobots_ur3e/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..3f87c16eaef79ec5f2e82a56947559406fd6f701 100644 --- a/universalrobots_ur3e/.simready/validation.json +++ b/universalrobots_ur3e/.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 +218,941 @@ } } } + }, + "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": { + 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"/.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": "pass" + } + }, + "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": true, + "status": "pass", + "version": "0.2.0", + "engines": { + "isaac_sim": { + "passed": true, + "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": true, + "status": "pass", + "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" + }, + "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": "pass" + } + }, + "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_ur3e/.thumbs/ur3e.thumb.usd b/universalrobots_ur3e/.thumbs/ur3e.thumb.usd deleted file mode 100644 index 6ef03802844da7d80a008dc473044518f2a62584..0000000000000000000000000000000000000000 Binary files a/universalrobots_ur3e/.thumbs/ur3e.thumb.usd and /dev/null differ diff --git a/universalrobots_ur3e/com.nvidia.simready.packaging.json b/universalrobots_ur3e/com.nvidia.simready.packaging.json index b6a7e44136f66cabff4fdda35eca189337d6324b..b128879d4e8dca777b6a2340c3d8b267ef30994e 100644 --- a/universalrobots_ur3e/com.nvidia.simready.packaging.json +++ b/universalrobots_ur3e/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur3e.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur3e.3.0.0", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "c952d904a983ce5c5f18455b61e5df5f4afb089016b9f7f416af34f183b5b8c2" + "sha256": "78e37d945d397e90510cddaed243d554ce3d86a0dfb5cfd2a35ba64e0d9aa3a6" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "3091cb6f7ceec3ee3a6eb4985070c6edfeb82c178197746332927ed9bf9e8dc0" + "sha256": "1bda8311e76b2ccdf4c878427033cf0dc7a43db4dae6572ca72e97b4201c4cad" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "71cf56097b58666e490ef240689f2b28e03fdf959baa2d811d4421aea93a01ac" + "sha256": "6d658367f5d7a083b8004eb5695a60d42de18da11ab458ee1cbce3d804bcf642" }, "package_hash": { - "sha256": "92cdc6418868aed3cb9354ea9aa6d34a5dac807b3e438244d514e4418297afac" + "sha256": "b2a4da8bddd7a63de0a2953d9bbba040cf3d863fe65006c3a39d8bacb9284bd0" } } diff --git a/universalrobots_ur3e/payloads/materials.usda b/universalrobots_ur3e/payloads/materials.usda index 4b180769c9b4406c0aa46cdbc38d310e220f7a7a..6b1e1f3451ce3d4d02db380b31dc6d27937d74a4 100644 --- a/universalrobots_ur3e/payloads/materials.usda +++ b/universalrobots_ur3e/payloads/materials.usda @@ -22,7 +22,7 @@ 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" ) @@ -163,7 +163,7 @@ 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) @@ -184,7 +184,7 @@ 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" ) @@ -325,7 +325,7 @@ 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) @@ -346,7 +346,7 @@ 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" ) @@ -487,7 +487,7 @@ 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) @@ -508,7 +508,7 @@ 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" ) @@ -649,7 +649,7 @@ 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) @@ -670,7 +670,7 @@ 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" ) @@ -811,7 +811,7 @@ 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_ur3e/ur3e.usda b/universalrobots_ur3e/ur3e.usda index fd59844ecb59d9b0dc1c9424cee3cbec2c0ee516..4b855f1cccae372067f2cd9713fff15bd0179d8b 100644 --- a/universalrobots_ur3e/ur3e.usda +++ b/universalrobots_ur3e/ur3e.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_ur5/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur5/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 66bc41e8d5a03cdc90bcec8a4ecc4b38753d4631..9c18ac16636c8b31d93f53c2fd87a7efab27de52 100644 --- a/universalrobots_ur5/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur5/.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": "2026-10-26T18:21:12", + "timestamp": "2026-11-02T23:13:00", "assets": [ { "asset": "ur5.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": "098e2dea87f7016048e6e0ca49d7dd3a22042e7cf060397bf99c6b5278918d05" + "sha256": "8e7fe75484a0847d292d31ca7cbd40eb6bd083f7c1171bdeea5c99021a4ccad3" } } diff --git a/universalrobots_ur5/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/universalrobots_ur5/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..1fa6f3414df5f3396df7dcf271685ed54ebb55c0 100644 --- a/universalrobots_ur5/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/universalrobots_ur5/.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": "2026-11-02T23:13:01", "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_ur5/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur5/.metadata/com.nvidia.simready.packaging.bom.json index 54e48abd170c7dad02e38a8695e8cdacee326f3a..7a9c0181a30ca71a187e1670ca0b1e3b8e6a5c92 100644 --- a/universalrobots_ur5/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur5/.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_ur5/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/universalrobots_ur5/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 48773, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "33251169bde4ad8504c65ac0ffb94955f58f2e05843fd5e3edbb9658744252be", + "sha256": "1ca26399e588ba52e262fdc91e60a56e6522e1e858b487590a89fdd105dc5ce3" } }, { @@ -18,14 +18,6 @@ "sha256": "05a3dfdf33dd79402c20aee50a2dbdb1eec6d8b261131a921ef0bcc099b5999c" } }, - { - "relative_path": ".thumbs/ur5.thumb.usd", - "size": 6125, - "hash": { - "sha256-flat-1mb": "635712d99555f306cdd28fefc792a7f7eb94ad93a619220c221a3dc86bf01fd6", - "sha256": "8ae737b57d860efa1f3e44424e2d9ce17c2b7ba9fed698c66858237ae3bd2282" - } - }, { "relative_path": "materials/mdl/OmniPBR.mdl", "size": 13969, @@ -157,10 +149,10 @@ }, { "relative_path": "payloads/materials.usda", - "size": 63681, + "size": 63769, "hash": { - "sha256-flat-1mb": "9690af56617c714f105241e04d6c340ad66ad0e0a437c156a6f211adf545ebca", - "sha256": "65c06dd737921e12ede65b59d80d12040bcd84eb7fab084d98e5d57a1c2e3d36" + "sha256-flat-1mb": "5d854d7f737546f39e23d15352cf7818d3e19fcd110880b4e283b66319a17c10", + "sha256": "1fc8c1f64602bff7e185e9db8e1617058d55bbc991de91e50b2f70e3f7411154" } }, { @@ -197,11 +189,11 @@ }, { "relative_path": "ur5.usda", - "size": 16109, + "size": 80608, "hash": { - "sha256-flat-1mb": "1675874776f25e9d26a1e6657e36f24cb03505c7ba97e275db0c36186e2994ce", - "sha256": "9316e344fa7a04e4291b493ce36485a0f2fedec3b3f69587cd554cac09de59f0" + "sha256-flat-1mb": "8866ca0f6e39f84349abb6baa8d30b28cd27369669e75cf1d2dc619d56346a23", + "sha256": "4b43e312e60cb72d86ed6329c4557791e4e9336d7905ec9632f0ef7533caa8fe" } } ] -} +} \ No newline at end of file diff --git a/universalrobots_ur5/.simready/validation.json b/universalrobots_ur5/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..709c7e049c5320a0c465bff8d3bb62ba137ff06e 100644 --- a/universalrobots_ur5/.simready/validation.json +++ b/universalrobots_ur5/.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 +218,941 @@ } } } + }, + "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": false, + "status": "skipped", + "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": false, + "status": "skipped", + "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": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.0" + } + }, + "status": "pass" + }, + "isaac_sim_newton": { + "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": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.0" + } + }, + "status": "pass" + } + }, + "contract_id": "FET006_Materials.MDL.0-2-0", + "display_name": "Materials (MDL)", + "family": "FET006", + "runtime": "MDL", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "passed": true, + "status": "pass", + "version": "0.1.0", + "engines": { + "isaac_sim": { + "passed": true, + "tests": { + "display_color_response": { + "passed": true, + "status": "pass", + "name": "display_color_response", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.5" + } + }, + "status": "pass" + }, + "isaac_sim_newton": { + "passed": true, + "tests": { + "display_color_response": { + "passed": true, + "status": "pass", + "name": "display_color_response", + "test_file": "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py", + "provider": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.5" + } + }, + "status": "pass" + } + }, + "contract_id": "FET010_DisplayColor.OpenUSD.0-1-0", + "display_name": "Display Color", + "family": "FET010", + "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.PhysX.0-4-0": { + "passed": false, + "status": "skipped", + "version": "0.4.0", + "engines": { + "isaac_sim": { + "passed": 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b/universalrobots_ur5/com.nvidia.simready.packaging.json index 92a0c00a6e5b0cd685213bdcb53a176d8c636892..7609c9ce063fe3913e3c4f7aa4db6db749326204 100644 --- a/universalrobots_ur5/com.nvidia.simready.packaging.json +++ b/universalrobots_ur5/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur5.2.0.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur5.3.0.0", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "94a0cfe19ab44b27102d08b9db25040618f959f70a38fba867983eae5a5e241e" + "sha256": "70bde7036b982ef3eea307f17ecaa0e9e3f435da02344d13426305152c2a9145" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "e2cebdb89eb7e165699351e722385eb4f8a59644e98f642e6c9e3c2f7f079e85" + "sha256": "1377547ed77729ecca7eb59c87ee47ad4274676c62fecbb6318e844bd953eafd" } }, { @@ -29,9 +29,9 @@ } ], "content_hash": { - "sha256": "7e19c21ebc7798c958cf15902815194757c33180ac231c710de8bb3b3e1017db" + "sha256": "8e7fe75484a0847d292d31ca7cbd40eb6bd083f7c1171bdeea5c99021a4ccad3" }, "package_hash": { - "sha256": "c3c0ea4f629712548925dc431df301c37e807700f08fd0401c109bd51a7ef3ed" + "sha256": "8ade8411d80913150cc158a8c4d21ef3d4c14fba817251ba758956d236b402f9" } } diff --git a/universalrobots_ur5/payloads/materials.usda b/universalrobots_ur5/payloads/materials.usda index 57a91bcc09bd19c8bce87649334990d9b0b2528c..a1c01282ff16f34a9b30f125bf312493ee14b1d8 100644 --- a/universalrobots_ur5/payloads/materials.usda +++ b/universalrobots_ur5/payloads/materials.usda @@ -22,7 +22,7 @@ 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" ) @@ -163,7 +163,7 @@ 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) @@ -184,7 +184,7 @@ 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" ) @@ -325,7 +325,7 @@ 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) @@ -346,7 +346,7 @@ 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" ) @@ -487,7 +487,7 @@ 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) @@ -508,7 +508,7 @@ 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" ) @@ -649,7 +649,7 @@ 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) @@ -670,7 +670,7 @@ 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" ) @@ -811,7 +811,7 @@ 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) @@ -832,7 +832,7 @@ 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" ) @@ -973,7 +973,7 @@ 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) @@ -994,7 +994,7 @@ 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" ) @@ -1135,7 +1135,7 @@ 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) @@ -1156,7 +1156,7 @@ 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" ) @@ -1297,7 +1297,7 @@ 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) @@ -1318,7 +1318,7 @@ 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" ) @@ -1459,7 +1459,7 @@ 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) @@ -1480,7 +1480,7 @@ 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" ) @@ -1621,7 +1621,7 @@ 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) @@ -1642,7 +1642,7 @@ 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" ) @@ -1783,7 +1783,7 @@ 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_ur5/ur5.usda b/universalrobots_ur5/ur5.usda index 3871ccabf9856bd5445c65854d254991474c3c82..7befa49d92a245ff0d8da9c4f624086f16bb9bdf 100644 --- a/universalrobots_ur5/ur5.usda +++ b/universalrobots_ur5/ur5.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 = 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/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 = 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/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_ur5e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur5e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 70b10e6b05f02c6af344be19da99058a69c84825..69302ec14380187c2b8e4359d39014e5155b32ef 100644 --- a/universalrobots_ur5e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur5e/.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": "2026-10-26T18:21:14", + "timestamp": "2026-11-02T23:13:02", "assets": [ { "asset": "ur5e.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": "fee68458025275a14d988ef88889681ec86237abe2c7d6d6d83dd7c74b468338" + "sha256": "3c61211409449c66a93200dc6429c4156202d8e8374b544fd995566e45f2001e" } } diff --git a/universalrobots_ur5e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json b/universalrobots_ur5e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json index 58649c8d65fba1bbc6aef69c52837120d833a0de..4b9c8d752a78ef594676a7fe4b037912bd539790 100644 --- a/universalrobots_ur5e/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json +++ b/universalrobots_ur5e/.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": "2026-11-02T23:13:04", "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_ur5e/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur5e/.metadata/com.nvidia.simready.packaging.bom.json index b67df6b729e43c540c39c09a4495da43335e2da5..f6962af15a1f0ba78b6f89e1554bdf4c4ae0cc1b 100644 --- a/universalrobots_ur5e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur5e/.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_ur5e/2.0.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0/.packages/universalrobots_ur5e/3.0.0", "items": [ { "relative_path": ".simready/validation.json", - "size": 7545, + "size": 48765, "hash": { - "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b", - "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56" + "sha256-flat-1mb": "a538045b0ed83ae68b56610d4f1271eff5f0e0c086f2e5bb81d6c3d968a402f4", + "sha256": "59a4f7d0bc91bfc0d8ca2b3265fdb441af9c0ebb67657e460b69ac96e0ab5fbc" } }, { @@ -18,14 +18,6 @@ "sha256": "8306cde91bcda412c48b2455f316346e376eb5201bfedb172dca2a5558ef7ed1" } }, - { - "relative_path": ".thumbs/ur5e.thumb.usd", - "size": 6121, - "hash": { - "sha256-flat-1mb": "ad2f448c25b429f9b08219bf06527d19729dde74d376f107f53fe14d79265cd6", - "sha256": "293a67b005a68b1845855af2ef840a1c350aa1e91ed52a8102328f3088bc0341" - } - }, { "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": "ur5e.usda", - "size": 16386, + "size": 80879, "hash": { - "sha256-flat-1mb": "fd38ba8b15b05eb32ee6a178619a25cc354081fe6711521bebc2f90fb2083016", - "sha256": "b531d33081f3e3e3b5fa51b0aef3eef353829dcfcf050dca8d90bf77f5262246" + "sha256-flat-1mb": "7087b5f8b3e3be555ff2ca130770d08d18611eeb47511c06f547a94d7bb4cc8c", + "sha256": "fe267eae54c62fc08b4d6b71d7190b4f20fa2ca8718e3d7bbd6e778186efca72" } } ] -} +} \ No newline at end of file diff --git a/universalrobots_ur5e/.simready/validation.json b/universalrobots_ur5e/.simready/validation.json index c6ab69b310886bd9bc5b35c3d6f829fb7cbecc45..3f87c16eaef79ec5f2e82a56947559406fd6f701 100644 --- a/universalrobots_ur5e/.simready/validation.json +++ b/universalrobots_ur5e/.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 +218,941 @@ } } } + }, + "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": 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"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": true, + "status": "pass", + "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" + }, + "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": "pass" + } + }, + "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": true, + "status": "pass", + "version": "0.2.0", + "engines": { + "isaac_sim": { + "passed": true, + "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": true, + "status": "pass", + "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" + }, + "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": "pass" + } + }, + "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_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", + "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": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.0" + } + }, + "status": "pass" + }, + "isaac_sim_newton": { + "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": "simready.foundation.tier_core.runtime_tests", + "version": "0.4.0" + } + }, + "status": "pass" + } + }, + "contract_id": "FET006_Materials.MDL.0-2-0", + "display_name": "Materials (MDL)", + "family": "FET006", + "runtime": "MDL", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + 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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": { + 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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/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": "/.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)", + 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}, + "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": { "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": "/.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": 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}, + "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": { + "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": 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"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.PhysX.0-4-0", + "display_name": "Simulate Multi-Body Physics (PhysX)", + "family": "FET004", + "runtime": "PhysX", + "source": false, + "foundations_contract": 2, + "profiles": [ + { + "id": "Robot-Body", + "version": "3.0.0" + } + ], + "profile": { + "id": "Robot-Body", + "version": "3.0.0" + } + }, + "FET022_DrivenJoints.PhysX.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": 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"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": 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"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_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": "/.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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"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": 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"/.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, + 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"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 @@ "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": "/.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": 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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": { + "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", + 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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/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 + } } }