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": "2026-10-07T17:45:42",
+  "timestamp": "2026-10-07T18:26:53",
   "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": "2026-10-07T17:45:42Z",
+  "run_timestamp": "2026-10-07T18:26:52Z",
   "passed": true,
   "results": [
     {
@@ -10,11 +10,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 34.554,
+      "duration": 4.05,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.247,
+          "value": 1.187,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -22,11 +22,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 77.94,
+          "value": 74.17,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.015,
+          "value": 1.004,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -42,67 +42,11 @@
           "unit": null
         },
         "culling_xz_max_diff": {
-          "value": 0.00191,
+          "value": 0.002325,
           "unit": null
         },
         "culling_xz_mean_diff": {
-          "value": 0.000481,
-          "unit": null
-        },
-        "culling_xz_worst_angle": {
-          "value": 0.0,
-          "unit": null
-        },
-        "culling_xz_passed": {
-          "value": 1,
-          "unit": null
-        }
-      },
-      "kit_logs": []
-    },
-    {
-      "test_name": "culling_xz",
-      "engine": "isaac_sim_newton",
-      "engine_version": "6.1.0.0",
-      "status": "pass",
-      "passed": true,
-      "duration": 34.272,
-      "message": "",
-      "metrics": {
-        "_timing_capture_frame_total_s": {
-          "value": 1.224,
-          "unit": null
-        },
-        "_timing_capture_frame_count": {
-          "value": 16,
-          "unit": null
-        },
-        "_timing_capture_frame_avg_ms": {
-          "value": 76.49,
-          "unit": null
-        },
-        "_timing_encode_video_total_s": {
-          "value": 1.053,
-          "unit": null
-        },
-        "_timing_encode_video_count": {
-          "value": 2,
-          "unit": null
-        },
-        "_render_blank_retry_count": {
-          "value": 0,
-          "unit": null
-        },
-        "_render_blank_retry_unrecovered": {
-          "value": 0,
-          "unit": null
-        },
-        "culling_xz_max_diff": {
-          "value": 0.002624,
-          "unit": null
-        },
-        "culling_xz_mean_diff": {
-          "value": 0.00051,
+          "value": 0.000541,
           "unit": null
         },
         "culling_xz_worst_angle": {
@@ -182,13 +126,69 @@
         }
       ]
     },
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.917,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.102,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 68.9,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.639,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "culling_xz_max_diff": {
+          "value": 0.002193,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 0.000449,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
     {
       "test_name": "drive_gain_validation",
       "engine": "isaac_sim",
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 8.288,
+      "duration": 6.734,
       "message": "",
       "metrics": {
         "dgv_joints_tested": {
@@ -204,7 +204,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 1.845,
+          "value": 1.657,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -212,11 +212,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 97.1,
+          "value": 87.2,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.638,
+          "value": 0.47,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -248,7 +248,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 43.292,
+      "duration": 42.783,
       "message": "",
       "metrics": {
         "eff_joints_with_candidates": {
@@ -264,7 +264,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 11.793,
+          "value": 12.099,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -272,11 +272,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 81.89,
+          "value": 84.02,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.31,
+          "value": 2.204,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -312,7 +312,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 81.891,
+      "duration": 83.618,
       "message": "",
       "metrics": {
         "frs_total_dofs": {
@@ -336,7 +336,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 15.58,
+          "value": 15.41,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -344,11 +344,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 86.55,
+          "value": 85.61,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 2.876,
+          "value": 2.741,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -380,7 +380,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.043,
+      "duration": 0.038,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "ground_drop_skipped": {
@@ -396,7 +396,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.956,
+      "duration": 0.97,
       "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 +407,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 60.866,
+      "duration": 61.31,
       "message": "",
       "metrics": {
         "jik_robot_reach": {
@@ -447,7 +447,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 7.606,
+          "value": 7.591,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -455,11 +455,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 101.42,
+          "value": 101.22,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.458,
+          "value": 1.311,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -519,7 +519,7 @@
           "unit": null
         },
         "jik_max_position_error_m": {
-          "value": 0.302569,
+          "value": 0.302412,
           "unit": null
         },
         "jik_max_orientation_error_deg": {
@@ -543,11 +543,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 38.376,
+      "duration": 33.581,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 5.895,
+          "value": 5.392,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -555,11 +555,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 131.01,
+          "value": 119.83,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.188,
+          "value": 0.898,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -707,73 +707,7 @@
           "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": "light_response",
@@ -781,11 +715,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 7.465,
+      "duration": 6.443,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.549,
+          "value": 2.199,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -793,11 +727,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 84.98,
+          "value": 73.28,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.745,
+          "value": 0.548,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -841,15 +775,81 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.788442,
+          "value": 0.788762,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.013499,
+          "value": 0.012906,
           "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": "light_response",
@@ -857,11 +857,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 7.38,
+      "duration": 6.386,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 2.524,
+          "value": 2.188,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -869,11 +869,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 84.13,
+          "value": 72.94,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.744,
+          "value": 0.541,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -889,7 +889,7 @@
           "unit": null
         },
         "light_response_variation_ratio": {
-          "value": 0.448276,
+          "value": 0.413793,
           "unit": null
         },
         "light_response_blank_ratio": {
@@ -909,7 +909,7 @@
           "unit": null
         },
         "light_response_different_pairs": {
-          "value": 13,
+          "value": 12,
           "unit": null
         },
         "light_response_passed": {
@@ -917,11 +917,11 @@
           "unit": null
         },
         "light_response_max_pair_change": {
-          "value": 0.787504,
+          "value": 0.790075,
           "unit": null
         },
         "light_response_min_pair_change": {
-          "value": 0.012626,
+          "value": 0.013305,
           "unit": null
         }
       },
@@ -999,11 +999,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 2.983,
+      "duration": 1.867,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.586,
+          "value": 0.504,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1011,7 +1011,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 146.62,
+          "value": 125.99,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -1059,7 +1059,7 @@
           "unit": null
         },
         "mdl_surface_silhouette_pixels": {
-          "value": 60888,
+          "value": 60908,
           "unit": null
         },
         "mdl_surface_uncovered_pixels": {
@@ -1145,11 +1145,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 2.747,
+      "duration": 1.94,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.571,
+          "value": 0.564,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1157,7 +1157,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 142.67,
+          "value": 141.09,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -1205,7 +1205,7 @@
           "unit": null
         },
         "mdl_surface_silhouette_pixels": {
-          "value": 60872,
+          "value": 60913,
           "unit": null
         },
         "mdl_surface_uncovered_pixels": {
@@ -1307,7 +1307,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 26.315,
+      "duration": 26.638,
       "message": "",
       "metrics": {
         "mjc_total_joints": {
@@ -1323,7 +1323,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 8.462,
+          "value": 8.447,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1331,11 +1331,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 96.16,
+          "value": 95.99,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.547,
+          "value": 1.461,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1359,73 +1359,7 @@
           "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",
@@ -1433,11 +1367,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 7.145,
+      "duration": 5.671,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.945,
+          "value": 4.136,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1445,11 +1379,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 618.16,
+          "value": 516.99,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.444,
+          "value": 0.274,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1583,11 +1517,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 7.023,
+      "duration": 5.714,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 4.785,
+          "value": 4.171,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1595,11 +1529,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 598.1,
+          "value": 521.41,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.428,
+          "value": 0.276,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1733,11 +1667,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 5.903,
+      "duration": 5.149,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.771,
+          "value": 1.654,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1745,11 +1679,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 88.55,
+          "value": 82.71,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.987,
+          "value": 0.684,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -1867,11 +1801,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 5.95,
+      "duration": 5.081,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 1.964,
+          "value": 1.74,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -1879,11 +1813,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 98.2,
+          "value": 87.02,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.936,
+          "value": 0.669,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2001,11 +1935,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.128,
+      "duration": 0.832,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.125,
+          "value": 0.107,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2013,7 +1947,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 62.74,
+          "value": 53.73,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2033,7 +1967,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.057797,
+          "value": 0.057788,
           "unit": null
         },
         "presence_passed": {
@@ -2115,11 +2049,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 1.193,
+      "duration": 0.859,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.127,
+          "value": 0.124,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2127,7 +2061,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 63.36,
+          "value": 62.06,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2147,7 +2081,7 @@
           "unit": null
         },
         "presence_diff_ratio": {
-          "value": 0.057798,
+          "value": 0.057775,
           "unit": null
         },
         "presence_passed": {
@@ -2155,7 +2089,73 @@
           "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": "preview_surface_renders",
@@ -2163,11 +2163,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 2.172,
+      "duration": 1.854,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.606,
+          "value": 0.544,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2175,7 +2175,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 151.43,
+          "value": 136.04,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2223,7 +2223,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 60419,
+          "value": 60392,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2309,11 +2309,11 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 2.011,
+      "duration": 1.854,
       "message": "",
       "metrics": {
         "_timing_capture_frame_total_s": {
-          "value": 0.604,
+          "value": 0.609,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2321,7 +2321,7 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 150.89,
+          "value": 152.2,
           "unit": null
         },
         "_timing_encode_video_total_s": {
@@ -2369,7 +2369,7 @@
           "unit": null
         },
         "universal_surface_silhouette_pixels": {
-          "value": 60412,
+          "value": 60428,
           "unit": null
         },
         "universal_surface_uncovered_pixels": {
@@ -2455,7 +2455,7 @@
       "engine_version": "6.1.0.0",
       "status": "skipped",
       "passed": false,
-      "duration": 0.049,
+      "duration": 0.044,
       "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
       "metrics": {
         "slope_drop_skipped": {
@@ -2471,7 +2471,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 23.536,
+      "duration": 23.077,
       "message": "",
       "metrics": {
         "sta_joints_with_limits": {
@@ -2491,7 +2491,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 7.914,
+          "value": 7.641,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2499,11 +2499,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 86.03,
+          "value": 83.05,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 1.658,
+          "value": 1.491,
           "unit": null
         },
         "_timing_encode_video_count": {
@@ -2531,11 +2531,77 @@
           "unit": null
         },
         "sta_max_position_error_deg": {
-          "value": 0.14646588287066586,
+          "value": 0.13413397632420784,
           "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": "velocity_limit",
@@ -2543,7 +2609,7 @@
       "engine_version": "6.1.0.0",
       "status": "pass",
       "passed": true,
-      "duration": 12.344,
+      "duration": 12.545,
       "message": "",
       "metrics": {
         "vel_joints_with_limits": {
@@ -2551,7 +2617,7 @@
           "unit": null
         },
         "_timing_capture_frame_total_s": {
-          "value": 3.728,
+          "value": 3.755,
           "unit": null
         },
         "_timing_capture_frame_count": {
@@ -2559,11 +2625,11 @@
           "unit": null
         },
         "_timing_capture_frame_avg_ms": {
-          "value": 100.76,
+          "value": 101.48,
           "unit": null
         },
         "_timing_encode_video_total_s": {
-          "value": 0.768,
+          "value": 0.749,
           "unit": null
         },
         "_timing_encode_video_count": {

standardbots_thor/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "3e0dd4ed831151139abb8aac4f131f6975b00520710e67e1755f66e1a5091137"
+        "sha256": "d248c1465ef63d9249806c097ad29e7b40289aeffb1d3785015209b2345f0a0f"
       }
     },
     {
@@ -26,6 +26,6 @@
     "sha256": "36302662381f6ce586aad61d2f007176ecf38fbfc826b5eb2cd73facc3f7c2e2"
   },
   "package_hash": {
-    "sha256": "525ffedec9c1ff8869a67a4ca0a79b96598666bae611d90be32836b5c6b749ca"
+    "sha256": "694947c1e3bab435dc5c9bb8ad763cd94c45d7829fb1ae7a365d30050f1e6f4b"
   }
 }