(TNS) —The Steelers began and ended Sunday’s practice with the goal-line drill, capping the first week in pads with one of the most physical practices of training camp. And much like the first week in pads, the defense dominated from beginning to end.

The Steelers offense ran 14 plays overall from the 2-yard line and only got in the end zone twice. The first-team offense, led by Aaron Rodgers at quarterback, was 1 for 6, with the only touchdown coming when Rodgers connected with tight end Darnell Washington. The only other touchdown came when reserve running back Evan Hull scored on a run with the third-team offense.

After two weeks of camp the defense is miles ahead of the offense. That was to be expected with so many new faces on offense, including Rodgers, who did not sign until early June. What wasn’t expected on Sunday was the first-team offense, with all of its starters on the field, not faring well against a Steelers defense that was resting Cam Heyward and TJ Watt. Late in practice, Alex Highsmith injured his groin, so the starting outside linebackers for the final goal-line drill were Nick Herbig and rookie Jack Sawyer.

Arthur Smith called two running plays on the first two plays — one to Jaylen Warren and the second to Kaleb Johnson — and both were tackled short of the end zone.

None of the coaches or players are pushing the panic button, but they are acknowledging the offense has been slow to come around. Veteran receiver Scotty Miller knows it’s going to take time to build the chemistry that is needed for improvement.

“That stuff is going to happen,” Miller said. “You learn by failure and trying to process all the new things. It’s all coming together though. It’s going to be exciting.”

Robinson makes his debut at fullback

Fourth-year linebacker Mark Robinson lined up at fullback for the first two snaps of the goal-line drill to end practice. The former college running back was told before practice the coaches wanted to have him play offense for a few snaps.

“He played running back in college,” coach Mike Tomlin said after practice. “It’s not a completely foreign act. We just wanted to give him a look at it and see what it looked like. Maybe we’ll do some more in the future with him. Maybe we’ll do some more with others. The more versatile you are it adds to your cause and it adds to ours.”

Two years ago, offensive lineman Kendrick Green was the talk of camp for a few practices when he was bulldozing defenders when the coaches asked him to play fullback. Not that it helped extend his Steelers career. A few weeks later, he was traded to the Houston Texans.

So don’t read too much into the coaches wanting to experiment with Robinson, who said afterward he was open to anything that helps the team. For what it’s worth, the Steelers failed to score on the two running plays when Robinson was asked to block.

Jones improves

Left tackle Broderick Jones fared much better in 1-on-1 pass protection drills after losing three consecutive reps to Highsmith on Friday night. Jones went up against Herbig twice and held his own against the talented third-year outside linebacker.

Some other highlights from the 1-on-1s between the offensive and defensive lines:

* Sawyer had four reps against Steven Jones, a rookie from Oregon, and he won three of them, including a clean win to the inside when Jones was unable to even get a hand on him.

* Tackle Dylan Cook easily handled DeMarvin Leal on their three reps against one another.

* Guard Doug Nester, who spent last season on the practice squad, easily handled Logan Lee in back-to-back reps.

Miller a bright spot for the offense

Big plays from the offense have been few and far between for the offense, but one player who continues to be noticeable is Miller. He scored on a long catch and run in Saturday’s practice and made a few more big plays on Sunday.

The competition for the final roster spots among receivers is going to be heated. Miller is battling other veterans such as Ben Skowronek and Robert Woods.

Injury update

Tomlin said he might have more news on Highsmith’s injury after the off day on Monday. A few other Steelers continue to miss practice due to injuries, including receiver Calvin Austin III and cornerback Cory Trice Jr.