Add SimReady package: standardbots_thor

standardbots_thor/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json

@@ -2,7 +2,7 @@
   "format_version": "1.0",
   "profile": "Package",
   "profile_version": "1.0.0",
-  "timestamp": "2026-10-07T18:26:53",
+  "timestamp": "2026-10-07T18:39:53",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

standardbots_thor/.metadata/standardbots_thor_benchmark.json

@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0",
   "asset": "standardbots_thor",
-  "run_timestamp": "2026-10-07T18:26:52Z",
+  "run_timestamp": "2026-10-07T18:39:52Z",
   "passed": true,
   "results": [
     {
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 4.05,
+      "duration": 4.398,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.187,
+          "value": 1.166,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 74.17,
+          "value": 72.88,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.004,
+          "value": 1.034,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -42,11 +42,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.002325,
+          "value": 0.003271,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 0.000541,
+          "value": 0.000647,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -132,11 +132,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 3.917,
+      "duration": 3.79,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.102,
+          "value": 1.042,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -144,11 +144,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 68.9,
+          "value": 65.1,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.639,
+          "value": 0.63,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -164,11 +164,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.002193,
+          "value": 0.001511,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 0.000449,
+          "value": 0.000432,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -180,7 +180,73 @@
           "unit": null
         }
       },
-      "kit_logs": []
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
     },
     {
       "test_name": "drive_gain_validation",
@@ -188,7 +254,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.734,
+      "duration": 6.669,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -204,7 +270,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 1.657,
+          "value": 1.689,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -212,11 +278,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 87.2,
+          "value": 88.88,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.47,
+          "value": 0.464,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -248,7 +314,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 42.783,
+      "duration": 42.375,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -264,7 +330,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 12.099,
+          "value": 11.543,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -272,11 +338,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 84.02,
+          "value": 80.16,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.204,
+          "value": 2.24,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -312,7 +378,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 83.618,
+      "duration": 81.697,
       "message": "",
       "metrics": {
         "frs_total_dofs": {
@@ -336,7 +402,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 15.41,
+          "value": 15.478,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -344,11 +410,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 85.61,
+          "value": 85.99,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.741,
+          "value": 2.787,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -372,7 +438,73 @@
           "unit": null
         }
       },
-      "kit_logs": []
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
     },
     {
       "test_name": "ground_drop",
@@ -380,7 +512,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.038,
+      "duration": 0.035,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "ground_drop_skipped": {
@@ -396,7 +528,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.97,
+      "duration": 0.964,
       "message": "IK Target Reach phase cannot run: no Lula kinematics descriptor matched this asset.\n\n  Found:    asset_path='<home>/Documents/standardbots/USD_Validate/Thor/StandardBots_Thor_SimReady_20261007/standardbots_thor/thor/standardbots_thor.usd'\n            isaac:robotType='ARM'\n  Expected: the asset's path OR its IsaacRobotAPI.isaac:robotType\n            value contains one of the canonical Lula-supported\n            robot keys (case-insensitive substring match):\n              Franka, UR3, UR5, UR10, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4\n\nFIX (asset-authoring): the Lula IK solver needs a descriptor YAML +\nURDF pair to know your robot's kinematic chain. Two ways to satisfy\nthis test:\n\n  1. RENAME / RETAG to a supported model. If your robot IS one of the\n     supported models above, ensure the asset folder name (or the\n     default prim's isaac:robotType token) contains the canonical\n     key. For example, place the asset under a folder containing\n     'Franka' or set:\n         token isaac:robotType = \"Manipulator\"\n         string isaac:robotName = \"Franka\"\n     on the default prim.\n\n  2. PROVIDE an explicit Lula descriptor. Set the phase config in\n     your test profile:\n         lula_robot_name: \"<canonical-name>\"\n         lula_yaml_path:  \"./abs/path/to/robot_descriptor.yaml\"\n         lula_urdf_path:  \"./abs/path/to/robot.urdf\"\n     The YAML must list the kinematic chain (base_link, cspace,\n     active joints, default_q) per Isaac Sim's Lula descriptor\n     format. See any policy in the policy_map directory cited below\n     for a working template.\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/robot_core/requirements/robot-type.md (RC.008)\n             nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/robot_core/requirements/robot-schema.md (RC.007)\n  Feature:   nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_021_ISAAC.md\n  Lula descriptors: Isaac Sim ships YAML+URDF pairs under\n             isaacsim.robot_motion.motion_generation/policies/\n             policy_map.json -- keyed by canonical robot name\n             (Franka, UR3, UR5, UR10, UR16e, Kinova_Gen3,\n              Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta,\n              Festo_Cobot, Rethink_Sawyer, Rizon4).\n  Example:   Any Franka_*.usd or UR10_*.usd asset under\n             sample_content/common_assets/robots_general/ -- the\n             asset folder name contains the canonical robot key\n             and the default prim sets isaac:robotType=\"Manipulator\".",
       "metrics": {},
       "kit_logs": []
@@ -407,7 +539,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 61.31,
+      "duration": 60.484,
       "message": "",
       "metrics": {
         "jik_robot_reach": {
@@ -447,7 +579,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 7.591,
+          "value": 7.571,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -455,11 +587,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 101.22,
+          "value": 100.95,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.311,
+          "value": 1.304,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -519,7 +651,7 @@
           "unit": null
         },
         "jik_max_position_error_m": {
-          "value": 0.302412,
+          "value": 0.302643,
           "unit": null
         },
         "jik_max_orientation_error_deg": {
@@ -535,7 +667,73 @@
           "unit": null
         }
       },
-      "kit_logs": []
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
     },
     {
       "test_name": "joint_movement",
@@ -543,11 +741,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 33.581,
+      "duration": 33.811,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 5.392,
+          "value": 5.325,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -555,11 +753,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 119.83,
+          "value": 118.34,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.898,
+          "value": 0.922,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -715,11 +913,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.443,
+      "duration": 6.797,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.199,
+          "value": 2.268,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -727,11 +925,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 73.28,
+          "value": 75.6,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.548,
+          "value": 0.58,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -747,7 +945,7 @@
           "unit": null
         },
         "light_response_variation_ratio": {
-          "value": 0.413793,
+          "value": 0.37931,
           "unit": null
         },
         "light_response_blank_ratio": {
@@ -767,7 +965,7 @@
           "unit": null
         },
         "light_response_different_pairs": {
-          "value": 12,
+          "value": 11,
           "unit": null
         },
         "light_response_passed": {
@@ -775,11 +973,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.788762,
+          "value": 0.789554,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.012906,
+          "value": 0.01315,
           "unit": null
         }
       },
@@ -857,11 +1055,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 6.386,
+      "duration": 6.397,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.188,
+          "value": 2.182,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -869,11 +1067,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 72.94,
+          "value": 72.72,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.541,
+          "value": 0.525,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -917,81 +1115,15 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.790075,
+          "value": 0.788665,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.013305,
+          "value": 0.013671,
           "unit": null
         }
       },
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: Traceback (most recent call last):"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
-        }
-      ]
+      "kit_logs": []
     },
     {
       "test_name": "mdl_renders",
@@ -999,11 +1131,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.867,
+      "duration": 1.994,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.504,
+          "value": 0.595,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1011,7 +1143,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 125.99,
+          "value": 148.67,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -1059,7 +1191,7 @@
           "unit": null
         },
         "mdl_surface_silhouette_pixels": {
-          "value": 60908,
+          "value": 60912,
           "unit": null
         },
         "mdl_surface_uncovered_pixels": {
@@ -1145,11 +1277,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.94,
+      "duration": 1.949,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.564,
+          "value": 0.566,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1157,7 +1289,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 141.09,
+          "value": 141.44,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -1205,7 +1337,7 @@
           "unit": null
         },
         "mdl_surface_silhouette_pixels": {
-          "value": 60913,
+          "value": 60899,
           "unit": null
         },
         "mdl_surface_uncovered_pixels": {
@@ -1291,7 +1423,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.904,
+      "duration": 0.889,
       "message": "MIM: no PhysxMimicJointAPI found on any joint under the asset prim.\n\n  Found:    0 joints with PhysxMimicJointAPI applied\n  Expected: at least one revolute or prismatic joint with\n            PhysxMimicJointAPI:<axisToken> applied (rotX/rotY/rotZ\n            or transX/transY/transZ)\n\nFIX (if your asset has coupled joints, e.g. a parallel-jaw gripper\nwhere the two finger joints must move together):\n  1. Pick the driven joint and call it the REFERENCE joint. Leave\n     it with a normal drive (PhysicsDriveAPI or JointStateAPI).\n  2. On each FOLLOWER joint, apply PhysxMimicJointAPI keyed to that\n     joint's physics:axis instance token (e.g. \"rotX\" for a\n     revolute joint with physics:axis = \"X\").\n  3. Set physxMimicJoint:<axis>:gearing (non-zero) and\n     physxMimicJoint:<axis>:referenceJoint pointing at the\n     reference joint's prim path.\n  4. Both follower AND reference joints must have physics:lowerLimit\n     and physics:upperLimit authored, and neither may have\n     physics:excludeFromArticulation = true.\n\nPaste-ready USDA snippet (adapt paths, axis token, gearing sign,\nand limits to your asset):\n\n    # The follower joint: applies PhysxMimicJointAPI keyed to the axis\n    # token of the joint (rotX/rotY/rotZ for revolute, transX/transY/\n    # transZ for prismatic). The instance name MUST match physics:axis.\n    def PhysicsRevoluteJoint \"follower_joint\" (\n        prepend apiSchemas = [\"PhysxMimicJointAPI:rotX\"]\n    )\n    {\n        uniform token physics:axis = \"X\"\n        rel physics:body0 = <./path/to/parent_link>\n        rel physics:body1 = <./path/to/follower_link>\n        float physics:lowerLimit = -45.0   # required: limits must be authored\n        float physics:upperLimit =  45.0\n\n        # ---- PhysxMimicJointAPI:rotX attributes ----\n        # gearing: \u0394q_follower = gearing * \u0394q_reference + offset\n        # Must be a non-zero real number. Sign encodes direction:\n        # -1 = follower moves opposite the reference (typical for\n        # parallel-jaw grippers where one jaw mirrors the other).\n        float physxMimicJoint:rotX:gearing = -1.0\n        float physxMimicJoint:rotX:offset = 0.0\n        float physxMimicJoint:rotX:naturalFrequency = 100.0\n        float physxMimicJoint:rotX:dampingRatio = 0.0\n        # referenceJoint must point at a joint that does NOT itself\n        # carry PhysxMimicJointAPI (no chains/cycles).\n        rel physxMimicJoint:rotX:referenceJoint = <./path/to/reference_joint>\n    }\n\nREFERENCE:\n  Spec:      nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n  Example:   sample_content/common_assets/robots_general/Robotiq/ezu_35/simready_isaac_usd/payloads/Physics/physx.usda\n             (search for: PhysxMimicJointAPI:rotX on GBA2_TRANS_2 / GBA3_TRANS_3 referencing Jaw_Drive with gearing = -1)\n\nNote: this test is SKIPPED (not failed) because mimic joints are\noptional. If your asset truly has no coupled joints, this skip is\nexpected and benign.",
       "metrics": {
         "mim_mimic_pairs_detected": {
@@ -1307,7 +1439,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 26.638,
+      "duration": 26.403,
       "message": "",
       "metrics": {
         "mjc_total_joints": {
@@ -1323,7 +1455,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 8.447,
+          "value": 8.464,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1331,11 +1463,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 95.99,
+          "value": 96.19,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.461,
+          "value": 1.484,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1367,11 +1499,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 5.671,
+      "duration": 5.824,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.136,
+          "value": 4.254,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1379,11 +1511,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 516.99,
+          "value": 531.69,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.274,
+          "value": 0.273,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1443,73 +1575,7 @@
           "unit": null
         }
       },
-      "kit_logs": [
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: Traceback (most recent call last):"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:   File \"<home>/Documents/standardbots/USD_Validate/.venv-isaac/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
-        },
-        {
-          "level": "error",
-          "channel": "omni.kit.app._impl",
-          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
-        }
-      ]
+      "kit_logs": []
     },
     {
       "test_name": "normals_xz",
@@ -1517,11 +1583,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 5.714,
+      "duration": 5.801,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.171,
+          "value": 4.134,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1529,11 +1595,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 521.41,
+          "value": 516.76,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.276,
+          "value": 0.278,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1667,11 +1733,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 5.149,
+      "duration": 5.082,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.654,
+          "value": 1.829,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1679,11 +1745,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 82.71,
+          "value": 91.46,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.684,
+          "value": 0.68,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1801,11 +1867,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 5.081,
+      "duration": 5.019,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.74,
+          "value": 1.647,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1813,11 +1879,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 87.02,
+          "value": 82.36,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.669,
+          "value": 0.645,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1935,11 +2001,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 0.832,
+      "duration": 0.854,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.107,
+          "value": 0.118,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1947,7 +2013,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 53.73,
+          "value": 58.98,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -1967,7 +2033,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.057788,
+          "value": 0.057785,
           "unit": null
         },
         "presence_passed": {
@@ -2049,11 +2115,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 0.859,
+      "duration": 0.803,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.124,
+          "value": 0.109,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2061,7 +2127,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 62.06,
+          "value": 54.32,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2081,7 +2147,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.057775,
+          "value": 0.057773,
           "unit": null
         },
         "presence_passed": {
@@ -2163,11 +2229,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.854,
+      "duration": 1.893,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.544,
+          "value": 0.53,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2175,7 +2241,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 136.04,
+          "value": 132.38,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2223,7 +2289,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 60392,
+          "value": 60404,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2309,11 +2375,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.854,
+      "duration": 1.75,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.609,
+          "value": 0.533,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2321,7 +2387,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 152.2,
+          "value": 133.17,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2369,7 +2435,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 60428,
+          "value": 60419,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2455,7 +2521,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.044,
+      "duration": 0.046,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "slope_drop_skipped": {
@@ -2471,7 +2537,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 23.077,
+      "duration": 23.092,
       "message": "",
       "metrics": {
         "sta_joints_with_limits": {
@@ -2491,7 +2557,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 7.641,
+          "value": 7.713,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2499,11 +2565,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 83.05,
+          "value": 83.84,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.491,
+          "value": 1.479,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2531,7 +2597,7 @@
           "unit": null
         },
         "sta_max_position_error_deg": {
-          "value": 0.13413397632420784,
+          "value": 0.13413425646868551,
           "unit": null
         }
       },
@@ -2609,7 +2675,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 12.545,
+      "duration": 12.532,
       "message": "",
       "metrics": {
         "vel_joints_with_limits": {
@@ -2617,7 +2683,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 3.755,
+          "value": 3.799,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2625,7 +2691,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 101.48,
+          "value": 102.68,
           "unit": null
         },
         "_timing_encode_video_total_s": {

standardbots_thor/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "d248c1465ef63d9249806c097ad29e7b40289aeffb1d3785015209b2345f0a0f"
+        "sha256": "28c1e08872609cf7598e8fb64fb15be9c5b726f6ceb69c9c4254a049a3f8b08f"
       }
     },
     {
@@ -26,6 +26,6 @@
     "sha256": "36302662381f6ce586aad61d2f007176ecf38fbfc826b5eb2cd73facc3f7c2e2"
   },
   "package_hash": {
-    "sha256": "694947c1e3bab435dc5c9bb8ad763cd94c45d7829fb1ae7a365d30050f1e6f4b"
+    "sha256": "303d3c23fe6f03a219e97ac8c8ceb25428dc6e717d7e75ad000aa71259518649"
   }
 }