diff --git a/batch1/D00002 Banana/IsaacSim_assets_69f1ea3e59057a93105854a6/physics_69f1ea3e59057a93105854a6.json b/batch1/D00002 Banana/IsaacSim_assets_69f1ea3e59057a93105854a6/physics_69f1ea3e59057a93105854a6.json new file mode 100644 index 0000000000000000000000000000000000000000..4ac2f29e7d650fa31ea4a490ceb211b5fd47de01 --- /dev/null +++ b/batch1/D00002 Banana/IsaacSim_assets_69f1ea3e59057a93105854a6/physics_69f1ea3e59057a93105854a6.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00002", + "asset": { + "name": "D00002 Banana", + "description": "A ripe yellow banana with a smooth slightly waxy peel, scattered brown speckles, and dark fibrous stem and tip ends.", + "object_type": "rigid_bodies", + "total_mass": 0.13, + "bounds": { + "min": [ + -0.079632, + -0.01591, + -3.2e-05 + ], + "max": [ + 0.088104, + 0.018569, + 0.092654 + ], + "size": [ + 0.167736, + 0.034478999999999996, + 0.092686 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00002 Banana", + "mass": 0.13, + "density": 950.0, + "volume": 0.00013883712129603008, + "inertia": [ + 3.407437342828591e-05, + 0.00022697872813859984, + 0.0002446566603341889 + ], + "inertia_axes": [ + 0.6857554831873724, + 0.7277950542310673, + 0.004579182679014693, + -0.005727774545455313 + ], + "center_of_mass": [ + 0.0036150456150347214, + 0.00019445347695765895, + 0.028254225606177037 + ], + "bounds": { + "min": [ + -0.07962862402200699, + 0.0, + -0.01851416751742363 + ], + "max": [ + 0.08810680359601974, + 0.09267234802246094, + 0.015923935920000076 + ], + "center": [ + 0.0015507414203978346, + 0.03196307193464727, + -0.0001020566883121857 + ] + }, + "material": "organic_fruit_tissue", + "physics_type": "rigid", + "source": { + "object_name": "D00002 Banana", + "part_name": "D00002 Banana" + }, + "collision": {}, + "reasoning": "The asset appears to be a single medium banana, an elongated curved organic body with a smooth peel and small stem features. A typical whole banana is about 0.18-0.22 m long along the curve, roughly 0.03-0.04 m in diameter, and weighs about 0.11-0.16 kg; 0.13 kg is a realistic nominal value. Banana flesh/peel bulk density is close to water but slightly lower due to internal porosity, so 900-1000 kg/m^3 is appropriate; 950 kg/m^3 is used. The exterior peel is smooth and waxy but not hard-polished, so contact friction is moderate: static friction about 0.45 and dynamic friction about 0.35 against common tabletop/industrial surfaces. Because the object is soft, wet organic material with high internal damping and a peel that absorbs impact, restitution should be low, about 0.10-0.15; 0.12 is selected to avoid unrealistic bouncing. The banana is curved and non-convex, so a single convex hull would incorrectly fill the crescent-shaped inner gap and produce inaccurate contact behavior. For a dynamic rigid body in Isaac Sim/PhysX, convex decomposition is preferred: approximate the banana as several overlapping convex hull segments or capsules along the curve, with small convex hulls for the stem and tip. An SDF mesh can give higher fidelity if the asset must match the visual surface closely, but convex decomposition is generally more stable and faster for grasping, placement, and rolling. Contact offset is kept small relative to object size, about 0.004 m, with rest offset 0.0 m to align collision and render geometry without visible hovering. CCD is not necessary for ordinary low-speed handling, but should be enabled if the banana is thrown, dropped from height, or moved by a fast end effector. For stable PhysX behavior, cap linear velocities around 5-10 m/s and angular velocities around 25-50 rad/s in application logic if needed; this model uses zero initial velocity. Sleep/hibernation can be left enabled with standard thresholds because the object is light and should settle quickly. Optional compliant contact settings are useful to mimic slight peel/flesh softness without using a deformable solver: moderate stiffness with strong damping reduces chatter and bounce while preserving rigid-body performance.", + "static_friction": 0.45, + "dynamic_friction": 0.35, + "restitution": 0.12, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A ripe yellow banana with a smooth slightly waxy peel, scattered brown speckles, and dark fibrous stem and tip ends.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.167736, + 0.034478999999999996, + 0.092686 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.13 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 56, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00020 Bell/IsaacSim_assets_69f1f00c59057a931058ad0f/physics_69f1f00c59057a931058ad0f.json b/batch1/D00020 Bell/IsaacSim_assets_69f1f00c59057a931058ad0f/physics_69f1f00c59057a931058ad0f.json new file mode 100644 index 0000000000000000000000000000000000000000..5526bfb9dd17fe7ba4fe87ba338cf5bd9491e13c --- /dev/null +++ b/batch1/D00020 Bell/IsaacSim_assets_69f1f00c59057a931058ad0f/physics_69f1f00c59057a931058ad0f.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00020", + "asset": { + "name": "D00020 Bell", + "description": "A hand bell with an aged brass flared bell body, brass clapper, and a dark polished wooden handle. The surface shows worn metallic patina, carved handle contours, and thin decorative grooves.", + "object_type": "rigid_bodies", + "total_mass": 0.85, + "bounds": { + "min": [ + -0.048487, + -0.047976, + -4e-06 + ], + "max": [ + 0.049482, + 0.048765, + 0.195738 + ], + "size": [ + 0.097969, + 0.096741, + 0.195742 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00020 Bell", + "mass": 0.85, + "density": 500.0, + "volume": 0.0005619300698615455, + "inertia": [ + 0.0006082924054554386, + 0.0017422239825195713, + 0.0017516699927066595 + ], + "inertia_axes": [ + 0.4940622323437018, + 0.4977820123989628, + 0.5079370101614268, + -0.5001155590579717 + ], + "center_of_mass": [ + 0.0003617623192206242, + -8.060911668587845e-05, + 0.06391765361412036 + ], + "bounds": { + "center": [ + 0.00022373313713249028, + 0.06167147155259015, + 6.118427759768696e-06 + ], + "max": [ + 0.049495987594127655, + 0.1957513839006424, + 0.047991830855607986 + ], + "min": [ + -0.0484975203871727, + 0.0, + -0.04877285286784172 + ] + }, + "material": "steel", + "physics_type": "rigid", + "source": { + "object_name": "D00020 Bell", + "part_name": "D00020 Bell" + }, + "collision": {}, + "reasoning": "The object appears to be a medium-size handheld bell made primarily from thin cast or spun brass with a wooden handle and small brass clapper. Assuming an approximate total height of 0.28-0.32 m, mouth diameter of 0.14-0.17 m, brass wall thickness of roughly 1-2 mm, and a hardwood handle, a realistic total mass is about 0.8-0.9 kg; 0.85 kg is a suitable rigid-body mass. Actual material densities would be about 8400-8700 kg/m^3 for brass and 600-800 kg/m^3 for hardwood, but because the bell body is hollow and the collision volume will likely be represented by solid convex parts, an effective simulation density around 500 kg/m^3 is more appropriate if density is used to derive mass. For Isaac Sim, explicitly authoring mass is preferred over relying only on density for this hollow composite object. Contact behavior is dominated by brass at the rim and body, with some higher-friction wood on the handle; brass-on-common-surfaces typically has moderate friction, so static friction is estimated at 0.42 and dynamic friction at 0.32. Restitution is set to 0.35 because the brass shell is stiff but loses impact energy to sound, vibration, and local deformation; it should not behave like a highly elastic rubber object. The shape is mostly axisymmetric but includes a concave bell mouth and an internal clapper, so a single convex hull would overfill the hollow mouth and give inaccurate contacts. Convex decomposition is the recommended default for a performant dynamic rigid body: use several convex parts for the flared bell, rim, collar, handle, knob, and clapper if the clapper is fixed. If the interior cavity must be physically accessible or if another object must collide accurately inside the bell, an SDF mesh collider can be used instead, but at higher cost. Rest offset is kept at 0.0 m to align collision and visual geometry, while contact offset is set to 0.003 m for stable contact generation at this asset scale. CCD is enabled because the thin rim, small clapper, and rounded knob can tunnel during drops or fast manipulation; it may be disabled for slow, settled placement scenes to save performance. No compliant contacts are required for the rigid brass/wood body; use normal rigid contacts with adequate solver iterations. Recommended practical limits not represented as separate schema fields are max linear velocity around 10-15 m/s, max angular velocity around 50-80 rad/s, sleep threshold around 0.005-0.01 m^2/s^2, and stabilization enabled for resting contacts.", + "static_friction": 0.42, + "dynamic_friction": 0.32, + "restitution": 0.35, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A hand bell with an aged brass flared bell body, brass clapper, and a dark polished wooden handle. The surface shows worn metallic patina, carved handle contours, and thin decorative grooves.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.097969, + 0.096741, + 0.195742 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.85 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 56, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00023 Berry Apple/IsaacSim_assets_69f1f0a059057a931058ba6a/physics_69f1f0a059057a931058ba6a.json b/batch1/D00023 Berry Apple/IsaacSim_assets_69f1f0a059057a931058ba6a/physics_69f1f0a059057a931058ba6a.json new file mode 100644 index 0000000000000000000000000000000000000000..3b2c183039067609e98b0bbbe6a7208d74303485 --- /dev/null +++ b/batch1/D00023 Berry Apple/IsaacSim_assets_69f1f0a059057a931058ba6a/physics_69f1f0a059057a931058ba6a.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00023", + "asset": { + "name": "D00023 Berry Apple", + "description": "A glossy red apple with pale speckling, a shallow top dimple, and a thin brown-green stem with a small wilted leaf.", + "object_type": "rigid_bodies", + "total_mass": 0.18, + "bounds": { + "min": [ + -0.036953, + -0.036046, + 2e-05 + ], + "max": [ + 0.034591, + 0.037178, + 0.088584 + ], + "size": [ + 0.071544, + 0.07322400000000001, + 0.08856399999999999 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00023 Berry Apple", + "mass": 0.18, + "density": 850.0, + "volume": 0.00021461730310242387, + "inertia": [ + 9.286354009518667e-05, + 0.00010429136995820938, + 0.00010610672373854726 + ], + "inertia_axes": [ + 0.8144304691714803, + 0.11752167472555632, + -0.5650774344092753, + -0.0598260810705043 + ], + "center_of_mass": [ + -0.0002032278202948886, + 0.0003284349234438385, + 0.03798057057353088 + ], + "bounds": { + "min": [ + -0.037018999457359314, + -0.03437399864196777, + 3.999999989900971e-06 + ], + "max": [ + 0.03511599823832512, + 0.03647900000214577, + 0.08904100209474564 + ], + "center": [ + -0.00040541530478320357, + 0.0006403840742071486, + 0.037395593581089216 + ] + }, + "material": "organic_fruit_tissue", + "physics_type": "rigid", + "source": { + "object_name": "D00023 Berry Apple", + "part_name": "D00023 Berry Apple" + }, + "collision": {}, + "reasoning": "The object is a medium red apple with a mostly rounded, slightly oblate body, shallow concavities at the top and bottom, and a lightweight dry stem/leaf. No exact scale or product data is provided, so estimates use a typical apple diameter of about 75–85 mm, height of about 70–80 mm, and mass of about 0.18 kg. Apple tissue is mostly water with cellular air space, so bulk density is slightly below water; a practical rigid-body density estimate is 830–900 kg/m^3, with 850 kg/m^3 selected. The stem and leaf contribute negligible mass but can create troublesome thin collision geometry; for stable PhysX rigid-body behavior, the main apple should dominate mass and inertia, while the stem/leaf should either be ignored for collision or approximated with low-resolution convex/capsule pieces. The glossy waxy skin is smoother than wood or rubber but not as slippery as glass; static friction around 0.35 and dynamic friction around 0.28 are appropriate against common plastic/metal/table materials. Real apples deform and dissipate energy on impact, so restitution should be low, approximately 0.10–0.20; 0.15 is chosen. Because the visual shape includes concavities, a single convex hull would fill the top dimple and reduce contact fidelity. Convex decomposition is recommended for the full visible asset, ideally using a near-spherical convex piece for the apple body plus simplified convex/capsule pieces for the stem. If performance is more important than visual contact accuracy, a sphere or ellipsoid approximation is acceptable. Contact offsets are set small relative to an ~0.08 m object: 1 mm rest offset and 3 mm contact offset. CCD is enabled because the object is small and can tunnel if dropped or thrown. Compliant contacts are recommended with moderate stiffness and high damping to approximate the slight softness of fruit while still treating it as non-deformable in rigid-body simulation.", + "static_friction": 0.35, + "dynamic_friction": 0.28, + "restitution": 0.15, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A glossy red apple with pale speckling, a shallow top dimple, and a thin brown-green stem with a small wilted leaf.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.071544, + 0.07322400000000001, + 0.08856399999999999 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.18 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 103, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00037 Blueberry/IsaacSim_assets_69f1f21059057a931058da79/physics_69f1f21059057a931058da79.json b/batch1/D00037 Blueberry/IsaacSim_assets_69f1f21059057a931058da79/physics_69f1f21059057a931058da79.json new file mode 100644 index 0000000000000000000000000000000000000000..d3fcab5ad72c78ccc814af444d18b54e40bcfc80 --- /dev/null +++ b/batch1/D00037 Blueberry/IsaacSim_assets_69f1f21059057a931058da79/physics_69f1f21059057a931058da79.json @@ -0,0 +1,135 @@ +{ + "schema_version": "1.0", + "asset_id": "D00037", + "asset": { + "name": "D00037 Blueberry", + "description": "A small, nearly spherical dark blue fruit with a distinct star-shaped crown at the top. The surface features a mottled, slightly powdery texture characteristic of a natural wax coating.", + "object_type": "rigid_bodies", + "total_mass": 0.002, + "bounds": { + "min": [ + -0.006024, + -0.006183, + -2.2e-05 + ], + "max": [ + 0.006403, + 0.0062, + 0.010578 + ], + "size": [ + 0.012427, + 0.012383, + 0.0106 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00037 Blueberry", + "mass": 0.002, + "density": 1050.0, + "volume": 8.878165189461281e-07, + "inertia": [ + 2.700838784105116e-08, + 2.790963012443044e-08, + 3.154184191689787e-08 + ], + "inertia_axes": [ + 0.9223795410883807, + 0.030690955446448478, + -0.07657531003399122, + -0.3773728518700976 + ], + "center_of_mass": [ + 0.0001745767069086337, + 5.279769933800392e-05, + 0.00489897126728982 + ], + "bounds": { + "min": [ + -0.006034345366060734, + 0.0, + -0.006211000960320234 + ], + "max": [ + 0.006398115772753954, + 0.010614117607474327, + 0.006177071016281843 + ], + "center": [ + 0.0001182495491313954, + 0.0051899457148009455, + -4.5361899646607226e-05 + ] + }, + "material": "organic_fruit_tissue", + "physics_type": "rigid", + "source": { + "object_name": "D00037 Blueberry", + "part_name": "D00037 Blueberry" + }, + "collision": {}, + "reasoning": "The object is a blueberry, which can be modeled as a small, lightweight organic solid. Its mass is estimated at 2 grams (0.002 kg) based on an average diameter of roughly 1.5 cm. The density is slightly higher than water, estimated at 1050 kg/m^3. The skin has a moderate amount of friction (static 0.4, dynamic 0.3) against typical surfaces, and being a fleshy fruit, it has low restitution (0.2), meaning it will not bounce significantly. For collision geometry, a 'sphere_approximation' is highly efficient and accurate enough for rigid body dynamics, given its roughly spherical form. Because the object is very small, Continuous Collision Detection (CCD) is crucial to prevent it from tunneling through other colliders during physics steps. The contact offset is set to a minimal value (0.001 m) to maintain visual fidelity when resting on surfaces.", + "static_friction": 0.4, + "dynamic_friction": 0.3, + "restitution": 0.2, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A small, nearly spherical dark blue fruit with a distinct star-shaped crown at the top. The surface features a mottled, slightly powdery texture characteristic of a natural wax coating." + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.012427, + 0.012383, + 0.0106 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.002 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 118, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00038 Board/IsaacSim_assets_69f1f21359057a931058db1d/physics_69f1f21359057a931058db1d.json b/batch1/D00038 Board/IsaacSim_assets_69f1f21359057a931058db1d/physics_69f1f21359057a931058db1d.json new file mode 100644 index 0000000000000000000000000000000000000000..418538fb2bccc976bb3d45155b179459bb365121 --- /dev/null +++ b/batch1/D00038 Board/IsaacSim_assets_69f1f21359057a931058db1d/physics_69f1f21359057a931058db1d.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00038", + "asset": { + "name": "D00038 Board", + "description": "A glossy white rectangular tray with rounded corners, a shallow recessed center, and a raised rim. The surface appears to be glazed ceramic or porcelain with a smooth, hard finish.", + "object_type": "rigid_bodies", + "total_mass": 0.75, + "bounds": { + "min": [ + -0.076049, + -0.126915, + -0.000144 + ], + "max": [ + 0.076412, + 0.12768, + 0.018352 + ], + "size": [ + 0.152461, + 0.254595, + 0.018496 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00038 Board", + "mass": 0.75, + "density": 2300.0, + "volume": 0.0006632057664544364, + "inertia": [ + 0.0014165533798542627, + 0.003962586531552945, + 0.0053412811147653455 + ], + "inertia_axes": [ + 0.0017648199185307941, + -0.7054841526603464, + -0.7087234909976309, + -9.520451281468123e-05 + ], + "center_of_mass": [ + 0.00045430010633421036, + -0.00014315977163105667, + 0.009199397081458182 + ], + "bounds": { + "min": [ + -0.076049, + -0.126915, + -0.000144 + ], + "max": [ + 0.076412, + 0.12768, + 0.018352 + ], + "size": [ + 0.152461, + 0.254595, + 0.018496 + ] + }, + "material": "glazed_ceramic", + "physics_type": "rigid", + "source": { + "object_name": "D00038 Board", + "part_name": "D00038 Board" + }, + "collision": {}, + "reasoning": "The object appears to be a shallow rectangular serving tray/platter with rounded edges and a raised lip. No product dimensions are provided, so I estimate a typical size of roughly 0.28–0.32 m long, 0.18–0.22 m wide, and 0.025–0.035 m tall. The glossy white finish and rounded molded form are consistent with glazed ceramic/porcelain; if the asset is known to be molded plastic, mass and density should be reduced substantially. For a ceramic tray, the actual material density is about 2200–2400 kg/m^3, but the object is hollow/shallow rather than a solid box. Estimating a base thickness of about 4–6 mm plus a raised rim around the perimeter gives an actual ceramic volume on the order of 0.00025–0.00040 m^3, resulting in a mass around 0.55–0.95 kg. I choose 0.75 kg as a reasonable midpoint for a small-to-medium glazed ceramic tray. The dominant contact surface is smooth glazed ceramic, so friction is lower than rubber or unfinished wood but higher than polished glass; static friction around 0.35 and dynamic friction around 0.28 are appropriate for ceramic on common lab/table surfaces. Restitution is kept modest at 0.35 because ceramic is hard but the tray shape and contact damping reduce usable bounce; also, fragile ceramics should generally not be simulated as highly elastic. For Isaac Sim / PhysX, a convex hull would overfill the recessed center but is adequate if only outer contact stability is needed. For more accurate tray interactions, use convex decomposition with several simple convex parts: bottom slab plus four rim segments and rounded-corner approximations. SDF mesh collision can be used for high-fidelity contact with the recessed bowl-like region, but it is more expensive and best reserved for cases where small objects must rest inside the tray. Contact offset of 0.003 m and rest offset of 0.0005 m are suitable for a centimeter-scale hard object, avoiding visual interpenetration while maintaining stable contacts. CCD is not required for normal quasi-static placement but is enabled here as a safe default if the tray may be dropped or moved quickly. Gravity uses the standard Isaac Sim scene vector [0, 0, -9.81]. Compliant contacts are set with high stiffness and moderate damping only to regularize hard ceramic contact; the object itself should still be treated as rigid and non-deformable. Since this is a single rigid tray with no joints, articulation parameters are effectively unused.", + "static_friction": 0.35, + "dynamic_friction": 0.28, + "restitution": 0.35, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A glossy white rectangular tray with rounded corners, a shallow recessed center, and a raised rim. The surface appears to be glazed ceramic or porcelain with a smooth, hard finish.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.152461, + 0.254595, + 0.018496 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.75 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 1, + "approximations": [ + "sdf" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00048 Bottle Container/IsaacSim_assets_69f1f4a659057a9310591d14/physics_69f1f4a659057a9310591d14.json b/batch1/D00048 Bottle Container/IsaacSim_assets_69f1f4a659057a9310591d14/physics_69f1f4a659057a9310591d14.json new file mode 100644 index 0000000000000000000000000000000000000000..aadcdf802d17c9f660787e8d8b6bface1b151987 --- /dev/null +++ b/batch1/D00048 Bottle Container/IsaacSim_assets_69f1f4a659057a9310591d14/physics_69f1f4a659057a9310591d14.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00048", + "asset": { + "name": "D00048 Bottle Container", + "description": "A collection of upright glass and plastic bottles, jars, and dispensers with transparent, green, amber, and frosted bodies. The containers include cork stoppers, screw caps, metal lids, a pump top, and a pour spout.", + "object_type": "rigid_bodies", + "total_mass": 2.4, + "bounds": { + "min": [ + -0.034822, + -0.034634, + -4.3e-05 + ], + "max": [ + 0.035148, + 0.034824, + 0.198155 + ], + "size": [ + 0.06997, + 0.06945799999999999, + 0.19819799999999999 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00048 Bottle Container", + "mass": 2.4, + "density": 2400.0, + "volume": 0.0007446147240174061, + "inertia": [ + 0.0016017370135064158, + 0.00681077019691036, + 0.006822766368041073 + ], + "inertia_axes": [ + 0.5069146993128869, + 0.4929992853783338, + -0.5068485406283532, + 0.4930453823938384 + ], + "center_of_mass": [ + 0.00015886435661818693, + 9.921214497573865e-05, + 0.08603149352729458 + ], + "bounds": { + "min": [ + -0.034822, + -0.034634, + -4.3e-05 + ], + "max": [ + 0.035148, + 0.034824, + 0.198155 + ], + "size": [ + 0.06997, + 0.06945799999999999, + 0.19819799999999999 + ] + }, + "material": "glass", + "physics_type": "rigid", + "source": { + "object_name": "D00048 Bottle Container", + "part_name": "D00048 Bottle Container" + }, + "collision": {}, + "reasoning": "The image shows multiple empty bottle/container variants. The numeric mass is estimated as the aggregate mass of the visible set if imported under one rigid-body root: several medium glass bottles/jars at roughly 0.30–0.55 kg each, plus lighter PET/HDPE squeeze or water bottles at roughly 0.04–0.12 kg each, for a total near 2.4 kg. If each bottle is simulated independently, use approximately 0.04–0.08 kg for thin PET/HDPE bottles, 0.20–0.35 kg for small glass/pump/cruet bottles, and 0.35–0.55 kg for wine, milk, decanter, or jar forms. The dominant external structural material across the set is soda-lime glass, so root friction and restitution are glass-like; plastic caps and metal lids are smaller contact contributors. A material density near 2400 kg/m^3 represents glass, but for PhysX auto-mass using solid convex hulls around hollow bottles, an effective collider density would need to be reduced substantially, often to about 250–600 kg/m^3 per bottle, or explicit mass should be authored. Static friction around 0.32 and dynamic friction around 0.25 are suitable for smooth glass on common industrial/table surfaces; plastic squeeze bottles would be slightly higher, about 0.4/0.32, and rubber pump details would be higher but are not dominant. Restitution is set to 0.60 as a glass-like value, though reducing it to 0.25–0.40 improves numerical stability for stacking or drop tests where breakage is not modeled. Collision should use convex decomposition rather than one convex hull, because a single hull would overfill necks, shoulders, pump handles, spouts, and jar lips. A practical setup is 3–8 convex parts per bottle: base/body, shoulder, neck, cap/lid, and any pump or spout; use SDF mesh only if accurate concave interior or thin-mouth interaction is required. Rest offset should remain near zero to avoid visible floating, with a 3–5 mm contact offset for stable contact generation on small curved rims and bases. CCD is recommended because narrow necks, spouts, and small caps can tunnel during drops or fast manipulator motions. Initial velocity is zero; for robust handling, keep linear speeds below roughly 3–5 m/s and angular speeds below roughly 20–30 rad/s unless CCD and higher substepping are enabled. Sleep thresholds should be low-to-moderate for tall upright bottles to prevent jitter after settling, e.g. around 0.005–0.02 m^2/s^2, with increased solver iterations for stacked or densely contacting bottles. Compliant contacts are not needed for rigid glass/plastic; if approximating soft squeeze bottles as non-deforming rigid objects, only a small contact compliance should be introduced at the material level.", + "static_friction": 0.32, + "dynamic_friction": 0.25, + "restitution": 0.6, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A collection of upright glass and plastic bottles, jars, and dispensers with transparent, green, amber, and frosted bodies. The containers include cork stoppers, screw caps, metal lids, a pump top, and a pour spout.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.06997, + 0.06945799999999999, + 0.19819799999999999 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 2.4 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 59, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00054 Bowl/IsaacSim_assets_69f1f58959057a9310593240/physics_69f1f58959057a9310593240.json b/batch1/D00054 Bowl/IsaacSim_assets_69f1f58959057a9310593240/physics_69f1f58959057a9310593240.json new file mode 100644 index 0000000000000000000000000000000000000000..27e75e20b66e09f9e100c02270fd64b2cc2e65c7 --- /dev/null +++ b/batch1/D00054 Bowl/IsaacSim_assets_69f1f58959057a9310593240/physics_69f1f58959057a9310593240.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00054", + "asset": { + "name": "D00054 Bowl", + "description": "A smooth white glazed ceramic bowl with a rounded body, rolled rim, and small raised foot ring. The surface is hard, glossy, and slightly off-white porcelain or stoneware.", + "object_type": "rigid_bodies", + "total_mass": 0.42, + "bounds": { + "min": [ + -0.056488, + -0.056262, + 1e-06 + ], + "max": [ + 0.056425, + 0.056529, + 0.053672 + ], + "size": [ + 0.112913, + 0.112791, + 0.053670999999999996 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00054 Bowl", + "mass": 0.42, + "density": 2300.0, + "volume": 9.637829724572697e-05, + "inertia": [ + 0.00047040846675482166, + 0.0004726959508377676, + 0.0007571162298547209 + ], + "inertia_axes": [ + 0.9995778316077307, + -0.0011118990814331748, + 0.0004504076717047887, + -0.02902962920447789 + ], + "center_of_mass": [ + -5.888588607451456e-05, + 3.425161268412816e-05, + 0.024625511235360324 + ], + "bounds": { + "min": [ + -0.056488, + -0.056262, + 1e-06 + ], + "max": [ + 0.056425, + 0.056529, + 0.053672 + ], + "size": [ + 0.112913, + 0.112791, + 0.053670999999999996 + ] + }, + "material": "glazed_ceramic_porcelain", + "physics_type": "rigid", + "source": { + "object_name": "D00054 Bowl", + "part_name": "D00054 Bowl" + }, + "collision": {}, + "reasoning": "The object appears to be a medium household ceramic bowl with a concave open interior, thick rolled rim, rounded exterior wall, and small circular foot. No exact product dimensions are provided, so typical dimensions are estimated at roughly 0.14-0.16 m rim diameter, 0.07-0.09 m height, 0.055-0.075 m foot diameter, and 3-5 mm wall thickness. Glazed porcelain/stoneware has a true material density around 2200-2500 kg/m^3; using about 2300 kg/m^3 and an estimated ceramic shell volume of 1.6e-4 to 2.0e-4 m^3 gives a mass near 0.37-0.46 kg, so 0.42 kg is a reasonable rigid-body mass. The root density is set to the dominant ceramic material density rather than the hollow bounding-box density, because this is the correct USD/PhysX material-density interpretation when computing mass from collision volume. The dominant contact material is glazed ceramic: it is hard and smooth, with moderate friction on typical lab/table surfaces. Static friction is estimated at 0.45 and dynamic friction at 0.35; values can be lower on polished glass or metal and higher on rubber mats. Restitution is set to 0.50: ceramic is stiff and can rebound, but the hollow bowl shape, rolled rim, and real impacts dissipate energy and risk fracture, so it should not behave as highly bouncy rubber. For collision geometry, a single convex hull is not appropriate because it would close the open top and remove the concave interior. A convex decomposition is recommended for a dynamic rigid body: use multiple hulls around the bowl wall and foot so the interior remains usable while maintaining good PhysX performance. If very accurate interior contact or liquid/particle containment is required, an SDF mesh collider can be substituted at higher cost. Contact offset is kept small at 0.003 m and rest offset at 0.0005 m to avoid visible hovering while still generating stable contacts around the thin rim and foot. CCD is enabled because the bowl has thin ceramic walls and could tunnel through surfaces if dropped or moved quickly. Compliant contacts are effectively disabled with high stiffness and moderate damping because the object is non-deformable; any softness should come from contact stabilization, not material deformation. The center of mass should be close to the vertical central axis and slightly below mid-height due to the heavier lower body and foot ring. Inertia should be computed from the collision decomposition or authored explicitly if high-fidelity tipping behavior is important.", + "static_friction": 0.45, + "dynamic_friction": 0.35, + "restitution": 0.5, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A smooth white glazed ceramic bowl with a rounded body, rolled rim, and small raised foot ring. The surface is hard, glossy, and slightly off-white porcelain or stoneware.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.112913, + 0.112791, + 0.053670999999999996 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.42 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 59, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00055 Bowl Basket/IsaacSim_assets_69f1f5b059057a9310593679/physics_69f1f5b059057a9310593679.json b/batch1/D00055 Bowl Basket/IsaacSim_assets_69f1f5b059057a9310593679/physics_69f1f5b059057a9310593679.json new file mode 100644 index 0000000000000000000000000000000000000000..c78cfa48b4c8d463f78b5a8d72d5b69ef6207ad5 --- /dev/null +++ b/batch1/D00055 Bowl Basket/IsaacSim_assets_69f1f5b059057a9310593679/physics_69f1f5b059057a9310593679.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00055", + "asset": { + "name": "D00055 Bowl Basket", + "description": "An off-white glazed ceramic basket with an open woven lattice body, rounded foot ring, thick rim, and a single arched handle. The surface is smooth, hard, and slightly glossy with rounded strand details.", + "object_type": "rigid_bodies", + "total_mass": 1.6, + "bounds": { + "min": [ + -0.135524, + -0.135242, + -0.00014399737 + ], + "max": [ + 0.135418, + 0.135552, + 0.20872599 + ], + "size": [ + 0.270942, + 0.270794, + 0.20886998737 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00055 Bowl Basket", + "mass": 1.6, + "density": 2400.0, + "volume": 0.0008773653132094004, + "inertia": [ + 0.002123803141534698, + 0.002209619040369463, + 0.0026806670255261843 + ], + "inertia_axes": [ + 0.9999838237956993, + -0.00045953960783983236, + 0.000509499639985367, + 0.005646359924553482 + ], + "center_of_mass": [ + -6.395099671807202e-05, + 7.42073874844673e-05, + -0.004684915128859667 + ], + "bounds": { + "min": [ + -0.135524, + -0.135242, + -0.00014399737 + ], + "max": [ + 0.135418, + 0.135552, + 0.20872599 + ], + "size": [ + 0.270942, + 0.270794, + 0.20886998737 + ] + }, + "material": "glazed_ceramic", + "physics_type": "rigid", + "source": { + "object_name": "D00055 Bowl Basket", + "part_name": "D00055 Bowl Basket" + }, + "collision": {}, + "reasoning": "The object appears to be a decorative woven basket made from glazed ceramic or porcelain rather than flexible wicker: the strands are uniformly molded, opaque, smooth, off-white, and integrated with a solid foot, rim, and handle. I estimated an overall size of roughly 0.30-0.35 m rim diameter, 0.18-0.22 m bowl height, and 0.32-0.40 m total height including the handle. A porcelain/ceramic material density is typically about 2200-2500 kg/m^3; however, because this is a hollow open-lattice object, the total solid material volume is much smaller than the visual bounding volume. Using an estimated ceramic solid volume of about 0.0006-0.0008 m^3 gives a realistic total mass near 1.4-1.9 kg, so 1.6 kg is a reasonable rigid-body mass. The root density is set to 2400 kg/m^3 as the dominant physical material density; in Isaac Sim, the mass should preferably be authored explicitly because using a filled convex collision volume with ceramic density would greatly overestimate the mass. Glazed ceramic contact is hard and moderately smooth: static friction is estimated around 0.45 and dynamic friction around 0.35 against common surfaces. Restitution is set to 0.35: ceramic is hard but brittle, and real impacts dissipate energy through micro-slip and possible chipping/fracture, which is not modeled by a simple rigid body. Collision geometry should use convex decomposition rather than a single convex hull if the bowl opening, rim, handle, and foot need credible contacts. A single convex hull would fill the basket interior and ignore the open lattice; an exact triangle mesh is not appropriate for a dynamic PhysX rigid body unless using SDF-style collision for high-fidelity, higher-cost cases. For general Isaac Sim v4.5 use, a compound convex decomposition with separate simplified parts for the foot ring, bowl shell, rim, and handle is the best balance of stability and performance. Thin lattice holes should usually be simplified for contact because exact strand-level collision is expensive and may cause solver jitter. Rest offset is kept at 0.0 m and contact offset at 0.005 m to generate stable contacts without visibly floating too far from surfaces. CCD is recommended because the basket has thin ceramic strands, a narrow foot, and a raised handle that can tunnel during fast drops or robot interactions. No compliant contact is enabled because the object is a rigid, non-deformable ceramic body; if impact noise needs damping, use low restitution and solver iteration tuning rather than soft contacts.", + "static_friction": 0.45, + "dynamic_friction": 0.35, + "restitution": 0.35, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "An off-white glazed ceramic basket with an open woven lattice body, rounded foot ring, thick rim, and a single arched handle. The surface is smooth, hard, and slightly glossy with rounded strand details.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.270942, + 0.270794, + 0.20886998737 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 1.6 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 117, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00056 Bowl Container/IsaacSim_assets_69fef61cf3726e6ad053857a/physics_69fef61cf3726e6ad053857a.json b/batch1/D00056 Bowl Container/IsaacSim_assets_69fef61cf3726e6ad053857a/physics_69fef61cf3726e6ad053857a.json new file mode 100644 index 0000000000000000000000000000000000000000..8d0a87151e99219c2f91a1b85189f83ff27f7d6c --- /dev/null +++ b/batch1/D00056 Bowl Container/IsaacSim_assets_69fef61cf3726e6ad053857a/physics_69fef61cf3726e6ad053857a.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00056", + "asset": { + "name": "D00056 Bowl Container", + "description": "A cream-colored glazed ceramic bowl with rounded sides, a raised rim, and a small foot ring. The surface is smooth, slightly glossy, and subtly speckled.", + "object_type": "rigid_bodies", + "total_mass": 0.46, + "bounds": { + "min": [ + -0.078177, + -0.0779, + 1e-06 + ], + "max": [ + 0.077816, + 0.077941, + 0.068988 + ], + "size": [ + 0.155993, + 0.155841, + 0.06898699999999999 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00056 Bowl Container", + "mass": 0.46, + "density": 2300.0, + "volume": 0.00020431683529767083, + "inertia": [ + 0.0010615497599684954, + 0.0010627171987516609, + 0.0017472785635316269 + ], + "inertia_axes": [ + 0.9978146587468573, + 0.00015716688957809275, + 0.00018486409890305927, + 0.06607456328820199 + ], + "center_of_mass": [ + -0.00017463352949937983, + -1.4518639558757007e-05, + 0.03346244132143453 + ], + "bounds": { + "min": [ + -0.078177, + -0.0779, + 1e-06 + ], + "max": [ + 0.077816, + 0.077941, + 0.068988 + ], + "size": [ + 0.155993, + 0.155841, + 0.06898699999999999 + ] + }, + "material": "glazed_ceramic", + "physics_type": "rigid", + "source": { + "object_name": "D00056 Bowl Container", + "part_name": "D00056 Bowl Container" + }, + "collision": {}, + "reasoning": "The object appears to be a hollow ceramic serving or cereal bowl with a broad circular rim, curved hemispherical/frustum-like body, and a smaller raised base foot. No product data is provided, so values are estimated for a typical glazed stoneware/porcelain bowl about 0.15-0.18 m in rim diameter and 0.075-0.095 m tall, with a wall thickness of roughly 3-5 mm. Ceramic material density is typically about 2200-2500 kg/m^3; using 2300 kg/m^3 and an estimated shell volume around 1.8e-4 to 2.2e-4 m^3 gives a mass near 0.4-0.5 kg. I set mass to 0.46 kg, which is realistic for a medium ceramic bowl and should be explicitly authored rather than relying on a solid closed-volume collider density, because the object is hollow. The dominant material is glazed ceramic; the glazed outer wall is relatively smooth, while the foot ring may be slightly rougher and unglazed. A static friction coefficient of 0.48 and dynamic friction of 0.38 are appropriate for ceramic on common tabletop, plastic, or metal surfaces; increase toward 0.55 if the foot ring is rough and unglazed. Restitution is set to 0.42: ceramic is hard and can rebound slightly, but real bowls dissipate energy through ringing, micro-impact losses, and possible chipping, so a high glass-like bounce would be unrealistic for most rigid-body scenes. The geometry is concave because of the open cavity, so a single convex hull would incorrectly seal the bowl opening and prevent objects from resting inside. For a movable rigid body in Isaac Sim/PhysX, convex decomposition is the recommended collider type: use multiple convex hulls around the bowl wall, rim, and foot ring to preserve the cavity while remaining dynamic-compatible and performant. An SDF mesh can be used for higher-fidelity concave contact if the bowl is mostly static or if performance cost is acceptable, but convex decomposition is the safer default for robotic/industrial rigid-body interaction. Contact offsets are kept small relative to the object size: rest_offset 0.0 m and contact_offset 0.0025 m reduce visible hovering while maintaining stable contact generation on the curved base and rim. CCD is enabled because the bowl has thin walls and a narrow foot ring that can tunnel through surfaces during drops or fast gripper motion; it can be disabled for slow tabletop-only scenes. For stability, use SI units, a 60 Hz minimum simulation step, preferably 120 Hz or substepping for fast manipulation, and allow sleeping/hibernation when the bowl is at rest to reduce jitter. Non-deformable ceramic should not use compliant contacts by default; if solver chatter occurs on hard surfaces, use only very stiff, lightly damped compliance rather than making the bowl feel rubbery.", + "static_friction": 0.48, + "dynamic_friction": 0.38, + "restitution": 0.42, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A cream-colored glazed ceramic bowl with rounded sides, a raised rim, and a small foot ring. The surface is smooth, slightly glossy, and subtly speckled.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.155993, + 0.155841, + 0.06898699999999999 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.46 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 59, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00063 Bowl Lemon/IsaacSim_assets_69f1f7d559057a9310596a42/physics_69f1f7d559057a9310596a42.json b/batch1/D00063 Bowl Lemon/IsaacSim_assets_69f1f7d559057a9310596a42/physics_69f1f7d559057a9310596a42.json new file mode 100644 index 0000000000000000000000000000000000000000..9453e9b10e299a6c77fe5a07703c8be34e6006d9 --- /dev/null +++ b/batch1/D00063 Bowl Lemon/IsaacSim_assets_69f1f7d559057a9310596a42/physics_69f1f7d559057a9310596a42.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00063", + "asset": { + "name": "D00063 Bowl Lemon", + "description": "A glossy glazed ceramic bowl shaped like a halved lemon, with a yellow textured peel, cream interior, green leaf, and brown stem.", + "object_type": "rigid_bodies", + "total_mass": 0.28, + "bounds": { + "min": [ + -0.067183, + -0.045534, + -0.00016199984 + ], + "max": [ + 0.067063, + 0.04568, + 0.062253 + ], + "size": [ + 0.134246, + 0.09121399999999999, + 0.062414999840000006 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00063 Bowl Lemon", + "mass": 0.28, + "density": 2200.0, + "volume": 0.00037740554725080206, + "inertia": [ + 0.00017810409902162578, + 0.0002823187994874968, + 0.0003475830818414586 + ], + "inertia_axes": [ + 0.9965269816522906, + 0.05587018324428225, + 0.0464718934928905, + -0.04065538806125473 + ], + "center_of_mass": [ + 0.0007723853552109018, + 0.0012702294950832813, + 0.000174143838047141 + ], + "bounds": { + "min": [ + -0.067183, + -0.045534, + -0.00016199984 + ], + "max": [ + 0.067063, + 0.04568, + 0.062253 + ], + "size": [ + 0.134246, + 0.09121399999999999, + 0.062414999840000006 + ] + }, + "material": "glazed_ceramic", + "physics_type": "rigid", + "source": { + "object_name": "D00063 Bowl Lemon", + "part_name": "D00063 Bowl Lemon" + }, + "collision": {}, + "reasoning": "The object appears to be a small decorative ceramic dish with a hollow lemon-shaped body and raised leaf/stem detail. With no product data supplied, I estimate an overall size of roughly 0.13–0.16 m long, 0.08–0.10 m wide, and 0.055–0.075 m tall. A glazed ceramic shell of this size with 3–5 mm wall thickness gives a solid ceramic volume on the order of 1.1e-4 to 1.5e-4 m^3; using a fired ceramic/glaze density near 2100–2400 kg/m^3 yields a mass around 0.23–0.35 kg, so 0.28 kg is a practical rigid-body mass estimate. Because collision hull volume will not equal the actual thin shell volume, the mass should preferably be authored explicitly rather than relying on automatic mass from a convex collider. The dominant contact material is smooth glazed ceramic, so friction is lower than rubber or rough wood but higher than very smooth glass: static friction about 0.42 and dynamic friction about 0.32 are appropriate against common table or gripper materials. Restitution is set to 0.42: ceramic is hard but not very elastic, and real impacts dissipate energy through ringing, micro-slip, and potential chipping rather than producing strong bounce. The geometry is non-convex because the bowl interior is open and the leaf/stem protrude from the rim. A single convex hull would incorrectly fill the bowl cavity, so convex decomposition is recommended for robust Isaac Sim / PhysX rigid-body use; use multiple hulls for the outer lemon shell, rim segments, leaf, and stem. If exact internal contacts are required and performance is acceptable, an SDF mesh is a higher-fidelity alternative, but convex decomposition is generally safer and faster for a dynamic rigid body. Contact offset is kept small at 0.003 m to respect the small scale and fine rim features, while rest offset is 0.0 m for visual alignment. CCD is enabled because the shell rim and leaf are thin features that could tunnel during drops or fast manipulation. For solver stability, use 120 Hz for scenes with contact-rich manipulation, 8–12 position iterations if available, a sleep threshold around 5e-5 to 1e-4, and practical velocity limits around 10–20 m/s linear and 50–100 rad/s angular for this small brittle object. Compliant contacts are disabled because the model is a rigid glazed ceramic item; if contact chatter occurs, prefer solver iteration/contact-offset tuning before adding artificial compliance.", + "static_friction": 0.42, + "dynamic_friction": 0.32, + "restitution": 0.42, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A glossy glazed ceramic bowl shaped like a halved lemon, with a yellow textured peel, cream interior, green leaf, and brown stem.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.134246, + 0.09121399999999999, + 0.062414999840000006 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.28 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 59, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00064 Bowl Mortar/IsaacSim_assets_69f1f7d759057a9310596a88/physics_69f1f7d759057a9310596a88.json b/batch1/D00064 Bowl Mortar/IsaacSim_assets_69f1f7d759057a9310596a88/physics_69f1f7d759057a9310596a88.json new file mode 100644 index 0000000000000000000000000000000000000000..f0e5d3aa8ccb4618e24e33a4330fc2a1146b7757 --- /dev/null +++ b/batch1/D00064 Bowl Mortar/IsaacSim_assets_69f1f7d759057a9310596a88/physics_69f1f7d759057a9310596a88.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00064", + "asset": { + "name": "D00064 Bowl Mortar", + "description": "Small round bowls with thick rolled rims, hollow interiors, and shallow raised foot rings, shown in varnished wood and brushed stainless-steel finishes.", + "object_type": "rigid_bodies", + "total_mass": 0.45, + "bounds": { + "min": [ + -0.090501, + -0.090251, + -9e-06 + ], + "max": [ + 0.090242, + 0.090295, + 0.100451 + ], + "size": [ + 0.180743, + 0.18054599999999998, + 0.10046 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00064 Bowl Mortar", + "mass": 0.45, + "density": 650.0, + "volume": 0.000890740991108965, + "inertia": [ + 0.0014214204843417367, + 0.0014246096904560533, + 0.0020376259930804763 + ], + "inertia_axes": [ + 0.9999602684274536, + 0.00013121831143460283, + -3.806095497127515e-05, + 0.008913074644227574 + ], + "center_of_mass": [ + -0.00013934883804328927, + 4.57665384132895e-05, + 0.04621291133819426 + ], + "bounds": { + "min": [ + -0.090501, + -0.090251, + -9e-06 + ], + "max": [ + 0.090242, + 0.090295, + 0.100451 + ], + "size": [ + 0.180743, + 0.18054599999999998, + 0.10046 + ] + }, + "material": "varnished_hardwood", + "physics_type": "rigid", + "source": { + "object_name": "D00064 Bowl Mortar", + "part_name": "D00064 Bowl Mortar" + }, + "collision": {}, + "reasoning": "The image shows a family of small bowl-shaped assets with rounded exterior walls, a concave interior, a prominent rim, and a small circular foot. Most visible variants are wooden, so the root-level material is estimated as varnished hardwood; the steel variants would use different density/friction values. A typical size for this object is estimated at roughly 0.16–0.18 m outer diameter and 0.08–0.10 m height, with a 6–10 mm wall/rim thickness. For a carved wooden bowl of that size, the solid material volume is approximately 0.00055–0.00075 m^3; with hardwood density around 600–750 kg/m^3, a realistic mass is about 0.35–0.55 kg, so 0.45 kg is used. Density is set to 650 kg/m^3 for varnished hardwood, but in Isaac Sim it is better to author an explicit mass rather than relying only on density if the collision mesh is a closed concave shell, because a filled convex or closed SDF volume can otherwise overestimate mass. The center of mass should be slightly below the geometric mid-height because of the thicker foot and rounded lower bowl body. Friction is estimated for smooth varnished wood on common work surfaces: static friction about 0.50 and dynamic friction about 0.38. Restitution is set to 0.35, representing a stiff but damped wooden object with limited bounce; for the stainless-steel variant, density would be about 7800 kg/m^3, mass likely 0.18–0.35 kg for thin sheet metal, static/dynamic friction around 0.35/0.25, and restitution around 0.55. The shape is concave, so a single convex hull would incorrectly fill the bowl cavity. For physically meaningful rim, interior, and foot contacts, an SDF mesh collider is recommended when accuracy matters. For large scenes or many bowls, a convex decomposition made from several radial wall/rim/foot convex pieces would be faster. Contact offset is set to 3 mm and rest offset to 0.5 mm to provide stable contact generation without visibly floating the asset; these may be reduced if the model is scaled smaller or contacts appear too inflated. CCD is enabled because the bowl has relatively thin walls and rim features that can tunnel during drops or fast manipulation. For runtime stability, keep initial linear and angular velocities at zero unless spawned dynamically, use normal gravity, and allow sleeping/hibernation for inactive bowls; practical sleep thresholds would be low, around 1e-4 to 5e-4 mass-normalized kinetic energy, with wake-up on contact. For high-speed throws or drops, limit maximum linear velocity to roughly 10–20 m/s and angular velocity to roughly 50–100 rad/s to avoid unstable thin-feature contact. Compliant contacts are disabled because the object is modeled as a rigid wooden/metal bowl; if contact chatter appears, solver substeps or material damping should be preferred before adding artificial compliance.", + "static_friction": 0.5, + "dynamic_friction": 0.38, + "restitution": 0.35, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "Small round bowls with thick rolled rims, hollow interiors, and shallow raised foot rings, shown in varnished wood and brushed stainless-steel finishes.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.180743, + 0.18054599999999998, + 0.10046 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.45 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 1, + "approximations": [ + "sdf" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00068 Bowl Pot/IsaacSim_assets_69f1f89159057a9310597aa3/physics_69f1f89159057a9310597aa3.json b/batch1/D00068 Bowl Pot/IsaacSim_assets_69f1f89159057a9310597aa3/physics_69f1f89159057a9310597aa3.json new file mode 100644 index 0000000000000000000000000000000000000000..14401ddf57df43098d78753c534227e25edd5188 --- /dev/null +++ b/batch1/D00068 Bowl Pot/IsaacSim_assets_69f1f89159057a9310597aa3/physics_69f1f89159057a9310597aa3.json @@ -0,0 +1,315 @@ +{ + "schema_version": "1.0", + "asset_id": "D00068", + "asset": { + "name": "D00068 Bowl Pot", + "description": "Cast-iron cooking pot with removable lid and wooden spoon. The setup uses rigid-body contact only, with normal behavior and no driven joints.", + "object_type": "rigid_bodies", + "total_mass": 3.56, + "bounds": { + "min": [ + -0.13245605431842805, + -0.1474478209104538, + 0.003306534984469414 + ], + "max": [ + 0.18282219366431235, + 0.1853817419834137, + 0.26349788332414625 + ], + "size": [ + 0.3152782479827404, + 0.3328295628938675, + 0.26019134833967683 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "part_00", + "mass": 1.05, + "density": 7200.0, + "volume": 0.00013938354568338084, + "inertia": [ + 0.0025882811647427147, + 0.0026555363886564937, + 0.005081589597417911 + ], + "inertia_axes": [ + 0.5526754096915408, + -0.06427774917405848, + -0.028646188738840506, + 0.8304201697659703 + ], + "center_of_mass": [ + -0.012653867812761177, + 0.0013557744818810205, + 0.12009920406690067 + ], + "bounds": { + "min": [ + -0.13245605431842805, + -0.011452258016586309, + 0.20376388332414627 + ], + "max": [ + 0.060832945681571965, + 0.1853817419834137, + 0.26349788332414625 + ], + "size": [ + 0.19328900000000002, + 0.196834, + 0.05973399999999998 + ] + }, + "material": "seasoned cast iron", + "physics_type": "rigid", + "source": { + "object_name": "part_00", + "part_name": "part_00" + }, + "collision": {}, + "reasoning": "Thin cast iron lid, not solid.", + "static_friction": 0.56, + "dynamic_friction": 0.43, + "restitution": 0.05, + "friction_combine_mode": "average", + "restitution_combine_mode": "min", + "is_structural_root": false, + "description": "Removable cast-iron pot lid", + "semantic": { + "qid": null + }, + "non_visual_material": { + "base": "iron", + "coating": "oxide", + "attributes": [ + "matte", + "rough" + ] + } + }, + { + "id": "part_01", + "name": "part_01", + "mass": 2.45, + "density": 7200.0, + "volume": 0.0002683169497510053, + "inertia": [ + 0.010804021965912396, + 0.014697341579807776, + 0.01991456536785983 + ], + "inertia_axes": [ + 0.9999964647155379, + 0.0013322253219767253, + -0.0014543621131379858, + -0.0017834132895358228 + ], + "center_of_mass": [ + 0.001487449859270576, + 0.0003426091847703169, + 0.041303559663298184 + ], + "bounds": { + "min": [ + -0.08303480633568763, + -0.1474478209104538, + 0.003306534984469414 + ], + "max": [ + 0.18282219366431235, + 0.0533321790895462, + 0.09633753498446941 + ], + "size": [ + 0.265857, + 0.20078000000000001, + 0.093031 + ] + }, + "material": "seasoned cast iron", + "physics_type": "rigid", + "source": { + "object_name": "part_01", + "part_name": "part_01" + }, + "collision": {}, + "reasoning": "Hollow cast iron shell with heavy handles.", + "static_friction": 0.58, + "dynamic_friction": 0.44, + "restitution": 0.04, + "friction_combine_mode": "average", + "restitution_combine_mode": "min", + "is_structural_root": true, + "description": "Cast-iron pot body with handles", + "semantic": { + "qid": null + }, + "non_visual_material": { + "base": "iron", + "coating": "oxide", + "attributes": [ + "matte", + "rough" + ] + } + }, + { + "id": "part_02", + "name": "part_02", + "mass": 0.06, + "density": 650.0, + "volume": 0.00010162427451964824, + "inertia": [ + 8.629418040554094e-06, + 0.00028615657752472366, + 0.0002921472818683332 + ], + "inertia_axes": [ + 0.9367583034650205, + 0.04867936851079872, + -0.2982062953810958, + 0.17659899593658254 + ], + "center_of_mass": [ + 0.008952514324399209, + -0.0029579917619552017, + 0.04938492228751106 + ], + "bounds": { + "min": [ + -0.08711871538972854, + -0.06462873966526986, + 0.039871734634876255 + ], + "max": [ + 0.11957528461027145, + 0.036125260334730146, + 0.18206473463487624 + ], + "size": [ + 0.206694, + 0.10075400000000001, + 0.14219299999999999 + ] + }, + "material": "varnished hardwood", + "physics_type": "rigid", + "source": { + "object_name": "part_02", + "part_name": "part_02" + }, + "collision": {}, + "reasoning": "Slender wood utensil, low mass.", + "static_friction": 0.46, + "dynamic_friction": 0.34, + "restitution": 0.18, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": false, + "description": "Wooden spoon resting in pot", + "semantic": { + "qid": "Q81895" + }, + "non_visual_material": { + "base": "wood", + "coating": "varnish", + "attributes": [ + "smooth", + "matte" + ] + } + } + ], + "articulation": { + "has_joints": true, + "joints": [ + { + "child": "part_00", + "parent": "part_01", + "joint_type": "floating", + "name": "joint_part_01__part_00", + "damping": 0.0, + "effort": 0.0, + "friction": 0.0, + "stiffness": 0.0, + "velocity": 0.0, + "origin": [], + "joint_rotation_local": [], + "axis": [], + "motion_limits": null, + "revolute_mode": null, + "score": 0.95, + "rest_pose_state": "unknown" + }, + { + "child": "part_02", + "parent": "part_01", + "joint_type": "floating", + "name": "joint_part_01__part_02", + "damping": 0.0, + "effort": 0.0, + "friction": 0.0, + "stiffness": 0.0, + "velocity": 0.0, + "origin": [], + "joint_rotation_local": [], + "axis": [], + "motion_limits": null, + "revolute_mode": null, + "score": 0.95, + "rest_pose_state": "unknown" + } + ] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.3152782479827404, + 0.3328295628938675, + 0.26019134833967683 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 3.56 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 58, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 2 + } + } +} diff --git a/batch1/D00077 Box Container/IsaacSim_assets_69f1fa5859057a931059a574/physics_69f1fa5859057a931059a574.json b/batch1/D00077 Box Container/IsaacSim_assets_69f1fa5859057a931059a574/physics_69f1fa5859057a931059a574.json new file mode 100644 index 0000000000000000000000000000000000000000..26a448012cd155e1cb27ddc47f46fdde36a4e3eb --- /dev/null +++ b/batch1/D00077 Box Container/IsaacSim_assets_69f1fa5859057a931059a574/physics_69f1fa5859057a931059a574.json @@ -0,0 +1,135 @@ +{ + "schema_version": "1.0", + "asset_id": "D00077", + "asset": { + "name": "D00077 Box Container", + "description": "A white, rectangular plastic storage container with an open, hinged lid. A black rubber gasket lines the interior perimeter of the lid.", + "object_type": "rigid_bodies", + "total_mass": 0.8, + "bounds": { + "min": [ + -0.100454, + -0.086201, + -0.000296 + ], + "max": [ + 0.102159, + 0.071982, + 0.194018 + ], + "size": [ + 0.202613, + 0.15818300000000002, + 0.194314 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00077 Box Container", + "mass": 0.8, + "density": 950.0, + "volume": 0.004417608421620235, + "inertia": [ + 0.0030143986665303567, + 0.003721282625643399, + 0.004363815523290427 + ], + "inertia_axes": [ + 0.7511150588730638, + -0.6601708103423797, + -0.0005781569084755135, + -0.0005789996451299754 + ], + "center_of_mass": [ + 0.0008153828362545213, + -0.011699378104731074, + 0.0821816363502654 + ], + "bounds": { + "min": [ + -0.10045292973518372, + 0.0, + -0.07197504490613937 + ], + "max": [ + 0.10215476155281067, + 0.19400402903556824, + 0.08617211133241653 + ], + "center": [ + 0.000823782527230807, + 0.07380471660320287, + 0.0032399818500825715 + ] + }, + "material": "plastic", + "physics_type": "rigid", + "source": { + "object_name": "D00077 Box Container", + "part_name": "D00077 Box Container" + }, + "collision": {}, + "reasoning": "Based on the visual evidence, the object is a rigid plastic container, likely manufactured from polypropylene or ABS, given the smooth matte finish and structural shape. The total mass is estimated at 0.8 kg, assuming standard dimensions of roughly 30x20x15 cm with a typical wall thickness for such items. The density of 950 kg/m³ aligns with standard hard plastics. The friction coefficients (static 0.4, dynamic 0.3) represent a smooth plastic exterior, while restitution (0.4) indicates moderate bounciness typical of hard, thin-walled plastic. For collision modeling in Isaac Sim, 'convex_decomposition' is essential because the object is a hollow shell; a basic 'convex_hull' would incorrectly seal the open top, preventing objects from being placed inside. The hinge suggests this could be modeled as an articulated system with a revolute joint, requiring specific DOF damping to simulate the physical resistance of a typical plastic hinge.", + "static_friction": 0.4, + "dynamic_friction": 0.3, + "restitution": 0.4, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A white, rectangular plastic storage container with an open, hinged lid. A black rubber gasket lines the interior perimeter of the lid." + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.202613, + 0.15818300000000002, + 0.194314 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.8 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 59, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00081 Bread Basket/IsaacSim_assets_69f1fbe359057a931059c916/physics_69f1fbe359057a931059c916.json b/batch1/D00081 Bread Basket/IsaacSim_assets_69f1fbe359057a931059c916/physics_69f1fbe359057a931059c916.json new file mode 100644 index 0000000000000000000000000000000000000000..1bc056ed151e89e0ff6148dd52742ae676751c49 --- /dev/null +++ b/batch1/D00081 Bread Basket/IsaacSim_assets_69f1fbe359057a931059c916/physics_69f1fbe359057a931059c916.json @@ -0,0 +1,403 @@ +{ + "schema_version": "1.0", + "asset_id": "D00081", + "asset": { + "name": "D00081 Bread Basket", + "description": "A wicker bread basket with three rolls, modeled as passive rigid bodies. Simulation assumes no active articulation, only normal contact, friction, and low-bounce food/basket materials.", + "object_type": "rigid_bodies", + "total_mass": 1.4, + "bounds": { + "min": [ + -0.23686447653007509, + -0.1687477739984989, + 0.016589849561810494 + ], + "max": [ + 0.29078144035053255, + 0.20889036977744102, + 0.2262458115887642 + ], + "size": [ + 0.5276459168806076, + 0.37763814377593996, + 0.2096559620269537 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "part_00", + "mass": 0.33, + "density": 310.0, + "volume": 0.0015679633244931883, + "inertia": [ + 0.0006446646665402898, + 0.0006669178254760755, + 0.00078736351556944 + ], + "inertia_axes": [ + 0.9995384547547199, + 0.024243308304846015, + -0.0012233541597436175, + -0.018265893725270224 + ], + "center_of_mass": [ + -0.08292219597175979, + -0.001579068276018913, + 0.08054179717011548 + ], + "bounds": { + "min": [ + -0.23686447653007509, + -0.07984850005782396, + 0.0998318115887642 + ], + "max": [ + -0.08308547653007507, + 0.07290349994217604, + 0.2262458115887642 + ], + "size": [ + 0.153779, + 0.152752, + 0.126414 + ] + }, + "material": "baked bread with crust", + "physics_type": "rigid", + "source": { + "object_name": "part_00", + "part_name": "part_00" + }, + "collision": {}, + "reasoning": "", + "static_friction": 0.72, + "dynamic_friction": 0.58, + "restitution": 0.06, + "friction_combine_mode": "average", + "restitution_combine_mode": "min", + "is_structural_root": false, + "description": "Large crusty bread loaf", + "semantic": { + "qid": "Q7802" + }, + "non_visual_material": { + "base": "organic", + "coating": "none", + "attributes": [ + "matte", + "porous", + "rough" + ] + } + }, + { + "id": "part_01", + "name": "part_01", + "mass": 0.72, + "density": 480.0, + "volume": 0.0051550712628271956, + "inertia": [ + 0.007820034596084994, + 0.013030664914827813, + 0.0183546567039795 + ], + "inertia_axes": [ + 0.9999938093424244, + -0.0007241391082924243, + 0.0018366416712559674, + -0.0029126700379852855 + ], + "center_of_mass": [ + -0.006328975009947332, + -0.002903689958370376, + 0.058369310144148374 + ], + "bounds": { + "min": [ + -0.19280955964946747, + -0.12561863022255898, + 0.016589849561810494 + ], + "max": [ + 0.29078144035053255, + 0.20889036977744102, + 0.2087198495618105 + ], + "size": [ + 0.483591, + 0.334509, + 0.19213 + ] + }, + "material": "woven wicker with cloth liner", + "physics_type": "rigid", + "source": { + "object_name": "part_01", + "part_name": "part_01" + }, + "collision": {}, + "reasoning": "", + "static_friction": 0.58, + "dynamic_friction": 0.44, + "restitution": 0.18, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "Woven basket body and handles", + "semantic": { + "qid": "Q811979" + }, + "non_visual_material": { + "base": "wood", + "coating": "none", + "attributes": [ + "matte", + "rough" + ] + } + }, + { + "id": "part_02", + "name": "part_02", + "mass": 0.18, + "density": 330.0, + "volume": 0.0009885785664779608, + "inertia": [ + 0.00023357910679024975, + 0.000306292122163128, + 0.00031718903703443243 + ], + "inertia_axes": [ + 0.2127433313957436, + -0.9708434457739591, + -0.075960835719684, + 0.08020741973878603 + ], + "center_of_mass": [ + 0.0687740143265986, + -0.05465970184694469, + 0.07397044903393242 + ], + "bounds": { + "min": [ + 0.10561755234146118, + -0.1687477739984989, + 0.09611840108585358 + ], + "max": [ + 0.24533155234146117, + -0.05595677399849892, + 0.20321840108585357 + ], + "size": [ + 0.139714, + 0.112791, + 0.10709999999999999 + ] + }, + "material": "seeded baked bread", + "physics_type": "rigid", + "source": { + "object_name": "part_02", + "part_name": "part_02" + }, + "collision": {}, + "reasoning": "", + "static_friction": 0.74, + "dynamic_friction": 0.6, + "restitution": 0.05, + "friction_combine_mode": "average", + "restitution_combine_mode": "min", + "is_structural_root": false, + "description": "Round seeded bread roll", + "semantic": { + "qid": "Q7802" + }, + "non_visual_material": { + "base": "organic", + "coating": "none", + "attributes": [ + "granular", + "matte", + "porous", + "rough" + ] + } + }, + { + "id": "part_03", + "name": "part_03", + "mass": 0.17, + "density": 280.0, + "volume": 0.0010782672876041776, + "inertia": [ + 0.0002367698381816185, + 0.000305243000824779, + 0.00030729067490514283 + ], + "inertia_axes": [ + 0.9598508170544865, + 0.26004106947455746, + 0.0037782653703045677, + -0.10512267070977054 + ], + "center_of_mass": [ + 0.07354570750539313, + 0.05923236789219019, + 0.0782537828405383 + ], + "bounds": { + "min": [ + 0.06898180240964889, + 0.0583703363776207, + 0.09886810778999329 + ], + "max": [ + 0.2170838024096489, + 0.1760553363776207, + 0.2155351077899933 + ], + "size": [ + 0.148102, + 0.11768499999999998, + 0.116667 + ] + }, + "material": "soft baked bread", + "physics_type": "rigid", + "source": { + "object_name": "part_03", + "part_name": "part_03" + }, + "collision": {}, + "reasoning": "", + "static_friction": 0.68, + "dynamic_friction": 0.54, + "restitution": 0.07, + "friction_combine_mode": "average", + "restitution_combine_mode": "min", + "is_structural_root": false, + "description": "Soft bread roll", + "semantic": { + "qid": "Q7802" + }, + "non_visual_material": { + "base": "organic", + "coating": "none", + "attributes": [ + "matte", + "porous", + "smooth" + ] + } + } + ], + "articulation": { + "has_joints": true, + "joints": [ + { + "child": "part_00", + "parent": "part_01", + "joint_type": "floating", + "name": "joint_part_01__part_00", + "damping": 0.0, + "effort": 0.0, + "friction": 0.0, + "stiffness": 0.0, + "velocity": 0.0, + "origin": [], + "joint_rotation_local": [], + "axis": [], + "motion_limits": null, + "revolute_mode": null, + "score": 0.95, + "rest_pose_state": "unknown" + }, + { + "child": "part_02", + "parent": "part_01", + "joint_type": "floating", + "name": "joint_part_01__part_02", + "damping": 0.0, + "effort": 0.0, + "friction": 0.0, + "stiffness": 0.0, + "velocity": 0.0, + "origin": [], + "joint_rotation_local": [], + "axis": [], + "motion_limits": null, + "revolute_mode": null, + "score": 0.95, + "rest_pose_state": "unknown" + }, + { + "child": "part_03", + "parent": "part_01", + "joint_type": "floating", + "name": "joint_part_01__part_03", + "damping": 0.0, + "effort": 0.0, + "friction": 0.0, + "stiffness": 0.0, + "velocity": 0.0, + "origin": [], + "joint_rotation_local": [], + "axis": [], + "motion_limits": null, + "revolute_mode": null, + "score": 0.95, + "rest_pose_state": "unknown" + } + ] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.5276459168806076, + 0.37763814377593996, + 0.2096559620269537 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 1.4 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 39, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 3 + } + } +} diff --git a/batch1/D00084 Bread Roll/IsaacSim_assets_69f1fc7959057a931059d616/physics_69f1fc7959057a931059d616.json b/batch1/D00084 Bread Roll/IsaacSim_assets_69f1fc7959057a931059d616/physics_69f1fc7959057a931059d616.json new file mode 100644 index 0000000000000000000000000000000000000000..546f8687172b1ca8416d9f546ee1350870ad57cb --- /dev/null +++ b/batch1/D00084 Bread Roll/IsaacSim_assets_69f1fc7959057a931059d616/physics_69f1fc7959057a931059d616.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00084", + "asset": { + "name": "D00084 Bread Roll", + "description": "A round, golden-brown baked bread roll with a smooth, slightly textured crust. The object features a continuous curved top surface and a flattened base.", + "object_type": "rigid_bodies", + "total_mass": 0.06, + "bounds": { + "min": [ + -0.040045, + -0.070591, + -0.030851 + ], + "max": [ + 0.040045, + 0.070591, + 0.030851 + ], + "size": [ + 0.08009, + 0.141182, + 0.061702 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00084 Bread Roll", + "mass": 0.06, + "density": 250.0, + "volume": 0.00040150371926435516, + "inertia": [ + 3.198200094195421e-05, + 7.922626847036423e-05, + 8.608463094036525e-05 + ], + "inertia_axes": [ + 0.02430131911588196, + -0.7437265681363358, + -0.6678868617931139, + 0.014400610456597565 + ], + "center_of_mass": [ + 0.00024276343207830017, + 0.00016507619441351323, + -0.0018860731775014814 + ], + "bounds": { + "min": [ + -0.040045, + -0.070591, + -0.030851 + ], + "max": [ + 0.040045, + 0.070591, + 0.030851 + ], + "size": [ + 0.08009, + 0.141182, + 0.061702 + ] + }, + "material": "baked_bread_crust", + "physics_type": "rigid", + "source": { + "object_name": "D00084 Bread Roll", + "part_name": "D00084 Bread Roll" + }, + "collision": {}, + "reasoning": "The object is a typical bread roll or bun. Bread is a highly porous, lightweight material, resulting in a low estimated density of 250 kg/m^3 and a low total mass of approximately 0.06 kg for a standard-sized roll. The exterior baked crust provides a moderate amount of friction against common surfaces like wood or ceramic, estimated at 0.5 for static and 0.4 for dynamic friction. Because bread is soft and structurally inelastic, it absorbs almost all impact energy without bouncing, necessitating a very low restitution value of 0.1. For simulation performance, a 'convex_hull' collider is perfectly suited to this simple, rounded shape, as it has no significant concavities. Standard contact offsets are maintained, and Continuous Collision Detection (CCD) is left disabled, as this object is unlikely to be subjected to high-velocity impacts in typical scenarios.", + "static_friction": 0.5, + "dynamic_friction": 0.4, + "restitution": 0.1, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A round, golden-brown baked bread roll with a smooth, slightly textured crust. The object features a continuous curved top surface and a flattened base.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.08009, + 0.141182, + 0.061702 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.06 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 1, + "approximations": [ + "sdf" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00089 Burger/IsaacSim_assets_69f1fd5d59057a931059eb3f/physics_69f1fd5d59057a931059eb3f.json b/batch1/D00089 Burger/IsaacSim_assets_69f1fd5d59057a931059eb3f/physics_69f1fd5d59057a931059eb3f.json new file mode 100644 index 0000000000000000000000000000000000000000..fe65918e817092b59e01a66b46576437ad0e6d6c --- /dev/null +++ b/batch1/D00089 Burger/IsaacSim_assets_69f1fd5d59057a931059eb3f/physics_69f1fd5d59057a931059eb3f.json @@ -0,0 +1,135 @@ +{ + "schema_version": "1.0", + "asset_id": "D00089", + "asset": { + "name": "D00089 Burger", + "description": "A multi-layered hamburger consisting of a sesame seed bun, beef patty, melted cheese, sliced red onions, tomatoes, and lettuce.", + "object_type": "rigid_bodies", + "total_mass": 0.3, + "bounds": { + "min": [ + -0.040323, + -0.038091, + 2e-06 + ], + "max": [ + 0.0398, + 0.041654, + 0.055697 + ], + "size": [ + 0.080123, + 0.079745, + 0.055695 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00089 Burger", + "mass": 0.3, + "density": 500.0, + "volume": 0.0001965962248876269, + "inertia": [ + 0.0001522863603347408, + 0.0001538402164884674, + 0.00018136427707352113 + ], + "inertia_axes": [ + 0.9895921429212007, + -0.011489305040656322, + -0.008058338230346962, + -0.1432146980001505 + ], + "center_of_mass": [ + -0.00012678901502594206, + 0.0017958674833313737, + 0.024697476539945216 + ], + "bounds": { + "min": [ + -0.04032904654741287, + 0.0, + -0.0416550412774086 + ], + "max": [ + 0.03980650007724762, + 0.05569959431886673, + 0.03810647502541542 + ], + "center": [ + -3.565299310527814e-05, + 0.022900058688842415, + -0.0016388162321967358 + ] + }, + "material": "organic_vegetable_tissue", + "physics_type": "rigid", + "source": { + "object_name": "D00089 Burger", + "part_name": "D00089 Burger" + }, + "collision": {}, + "reasoning": "For rigid body simulation, this composite organic object must be approximated as a single solid entity. The mass is estimated at 0.3 kg, representing a standard large burger. The density (500 kg/m^3) is an average, balancing the lightweight porous bun with the denser, moisture-rich meat and vegetables. Since food items are highly inelastic and absorb impact energy, the restitution is set very low (0.1). Friction coefficients are estimated based on the dry, slightly textured surface of baked bread interacting with typical surfaces. A convex decomposition is recommended for the collision geometry to roughly match the cylindrical shape while enveloping the irregular protrusions of the lettuce and patty.", + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.1, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A multi-layered hamburger consisting of a sesame seed bun, beef patty, melted cheese, sliced red onions, tomatoes, and lettuce." + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.080123, + 0.079745, + 0.055695 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.3 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 59, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00090 Butter/IsaacSim_assets_69f1fdc859057a931059f2ec/physics_69f1fdc859057a931059f2ec.json b/batch1/D00090 Butter/IsaacSim_assets_69f1fdc859057a931059f2ec/physics_69f1fdc859057a931059f2ec.json new file mode 100644 index 0000000000000000000000000000000000000000..ad73e5d128036c39dfefbbc686e4b26e1baf1e6f --- /dev/null +++ b/batch1/D00090 Butter/IsaacSim_assets_69f1fdc859057a931059f2ec/physics_69f1fdc859057a931059f2ec.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00090", + "asset": { + "name": "D00090 Butter", + "description": "A pale yellow rectangular block of butter with rounded edges, a glossy waxy surface, and small dents and smears. The material appears soft, fatty, and slightly slippery.", + "object_type": "rigid_bodies", + "total_mass": 0.113, + "bounds": { + "min": [ + -0.055647, + -0.016411, + -4.2e-05 + ], + "max": [ + 0.058438, + 0.018738, + 0.03494 + ], + "size": [ + 0.11408499999999999, + 0.035149, + 0.034982 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00090 Butter", + "mass": 0.113, + "density": 920.0, + "volume": 0.0001331236805599228, + "inertia": [ + 2.1946663347851627e-05, + 0.0001292009742357604, + 0.00012948071283217297 + ], + "inertia_axes": [ + 0.00828305330411255, + 0.9999652635181059, + 0.00015214186516466537, + -0.000916317619289444 + ], + "center_of_mass": [ + 0.001324634441564563, + 0.0011789458101878194, + 0.017377348919443907 + ], + "bounds": { + "center": [ + 0.001280162885234977, + 0.017290383175936615, + -0.0012382004220117422 + ], + "max": [ + 0.05838010460138321, + 0.034956734627485275, + 0.016324883326888084 + ], + "min": [ + -0.055626362562179565, + 0.0, + -0.018726160749793053 + ] + }, + "material": "wood", + "physics_type": "rigid", + "source": { + "object_name": "D00090 Butter", + "part_name": "D00090 Butter" + }, + "collision": {}, + "reasoning": "The object appears to be a standard stick/block of butter: a rounded rectangular cuboid made of dense edible fat with a smooth, waxy, slightly oily surface. With no explicit product data or scale, I estimate dimensions close to a common butter stick, approximately 0.12 m x 0.032 m x 0.032 m, giving a volume of about 1.23e-4 m^3. Butter density is typically around 900-950 kg/m^3 depending on water/air content, so a mass near 0.11 kg is realistic. The chosen mass of 0.113 kg matches a common 4 oz stick and is consistent with a density of about 920 kg/m^3. For contact behavior, butter should be modeled as a rigid body with low restitution because it dissipates impact energy and does not bounce. The surface is oily and smooth, so friction is lower than rubber, wood, or dry plastic; a static friction coefficient of 0.22 and dynamic friction coefficient of 0.16 are suitable for butter on typical smooth kitchen/industrial surfaces. Collision geometry can be represented efficiently by a convex hull because the visible shape is globally convex, with only shallow surface dents and rounded edges that do not require expensive triangle-mesh or SDF collision for most rigid-body interactions. A small positive rest offset and contact offset are recommended because the asset is relatively small; using a large default contact offset would make the block appear to hover or contact too early. CCD is not required for normal placement or low-speed sliding, but should be enabled if the block is dropped or launched at high speed. Because real butter is locally compliant, optional compliant contacts with modest stiffness and damping help approximate slight squish/contact softness while still treating the object as non-deformable.", + "static_friction": 0.22, + "dynamic_friction": 0.16, + "restitution": 0.04, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A pale yellow rectangular block of butter with rounded edges, a glossy waxy surface, and small dents and smears. The material appears soft, fatty, and slightly slippery.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.11408499999999999, + 0.035149, + 0.034982 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.113 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 1, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00093 Cake/IsaacSim_assets_69f1fe3959057a931059fdb4/physics_69f1fe3959057a931059fdb4.json b/batch1/D00093 Cake/IsaacSim_assets_69f1fe3959057a931059fdb4/physics_69f1fe3959057a931059fdb4.json new file mode 100644 index 0000000000000000000000000000000000000000..f8f2a8ecdccce2cf6dc9c5c8e8a6b23de5391d8a --- /dev/null +++ b/batch1/D00093 Cake/IsaacSim_assets_69f1fe3959057a931059fdb4/physics_69f1fe3959057a931059fdb4.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00093", + "asset": { + "name": "D00093 Cake", + "description": "A wedge-shaped slice of chocolate layer cake with pale cream frosting, dark sponge layers, and curled chocolate shavings. The surface is soft, porous, slightly irregular, and crumbly with small decorative chocolate flakes.", + "object_type": "rigid_bodies", + "total_mass": 0.12, + "bounds": { + "min": [ + -0.059939, + -0.018829, + -6e-06 + ], + "max": [ + 0.057602, + 0.036351, + 0.108166 + ], + "size": [ + 0.117541, + 0.05518, + 0.108172 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00093 Cake", + "mass": 0.12, + "density": 560.0, + "volume": 0.000604505410373831, + "inertia": [ + 0.0001283076233106609, + 0.0001513859049959124, + 0.0002243576682619512 + ], + "inertia_axes": [ + 0.7005539924631748, + 0.7117906019195901, + 0.035640937959395824, + -0.03616581540941733 + ], + "center_of_mass": [ + -0.002687162528009529, + 0.007858094604448397, + 0.0501376207555421 + ], + "bounds": { + "center": [ + -0.0020150600566110222, + 0.05206317497448845, + -0.006998105064529816 + ], + "max": [ + 0.057637833058834076, + 0.10817253589630127, + 0.018826857209205627 + ], + "min": [ + -0.05994122475385666, + 0.0, + -0.0363553948700428 + ] + }, + "material": "ceramic", + "physics_type": "rigid", + "source": { + "object_name": "D00093 Cake", + "part_name": "D00093 Cake" + }, + "collision": {}, + "reasoning": "The visible asset is interpreted as the cake slice only; the white plate should ideally be authored as a separate ceramic rigid body if included in the USD. A typical bakery cake slice of this size is approximately 0.11–0.14 m long, 0.07–0.09 m tall, and 0.04–0.07 m wide on average, giving an estimated volume around 1.8e-4 to 2.5e-4 m^3. Layer cake bulk density is much lower than solid chocolate because of porous sponge and whipped/buttercream frosting; a realistic effective density is about 450–650 kg/m^3. Using 560 kg/m^3 gives a mass near 0.12 kg, consistent with a 100–150 g dessert slice. Although real cake is deformable and fragile, for Isaac Sim rigid-body use it should be approximated as a low-mass rigid object with compliant contacts to mimic soft frosting/crust compression without requiring deformable-body simulation. Friction is estimated moderately high because frosting and moist cake have tacky contact behavior on ceramic/plastic/metal surfaces; static friction around 0.65 and dynamic friction around 0.55 are appropriate. Restitution should be very low because cake dissipates impact energy and does not bounce; 0.04 is suitable. The shape is a wedge with many high-frequency surface details and loose chocolate curls; for stable PhysX simulation, collision should not use every crumb. A convex decomposition or simplified convex hull set is preferred: one main wedge/prism collider for the cake body and optional small simplified convex pieces for large decorative curls if they must collide. For performance and stability, ignore tiny crumbs and shavings in collision or merge them into the top surface. Contact offset is kept small but larger than rest offset to prevent jitter on the irregular frosting surface. CCD is usually unnecessary for a slow, light food item, but can be enabled globally or per-body if it is dropped or moved rapidly by a gripper. Sleep/hibernation should be allowed via normal PhysX defaults because the object is light and stationary most of the time. If the visible plate is part of a single merged mesh, it should be separated; otherwise the estimated mass/density here would be inaccurate because a ceramic plate alone could add 0.35–0.7 kg and require much lower restitution and different friction/contact parameters.", + "static_friction": 0.65, + "dynamic_friction": 0.55, + "restitution": 0.04, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A wedge-shaped slice of chocolate layer cake with pale cream frosting, dark sponge layers, and curled chocolate shavings. The surface is soft, porous, slightly irregular, and crumbly with small decorative chocolate flakes.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.117541, + 0.05518, + 0.108172 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.12 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 59, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00094 Cake Stand/IsaacSim_assets_69f1fe5f59057a93105a0077/physics_69f1fe5f59057a93105a0077.json b/batch1/D00094 Cake Stand/IsaacSim_assets_69f1fe5f59057a93105a0077/physics_69f1fe5f59057a93105a0077.json new file mode 100644 index 0000000000000000000000000000000000000000..6fa3d79bc4d1d904b67a14107a1a1ee0028a7da9 --- /dev/null +++ b/batch1/D00094 Cake Stand/IsaacSim_assets_69f1fe5f59057a93105a0077/physics_69f1fe5f59057a93105a0077.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00094", + "asset": { + "name": "D00094 Cake Stand", + "description": "A cream-white ceramic pedestal tray with a shallow circular top, rounded raised rim, tapered central column, and matching round base.", + "object_type": "rigid_bodies", + "total_mass": 2.2, + "bounds": { + "min": [ + -0.148372, + -0.147137, + -1.4e-05 + ], + "max": [ + 0.146948, + 0.148367, + 0.148325 + ], + "size": [ + 0.29532, + 0.295504, + 0.148339 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00094 Cake Stand", + "mass": 2.2, + "density": 2300.0, + "volume": 0.006699424139817019, + "inertia": [ + 0.012326415076516294, + 0.012350805374943931, + 0.01716804366888345 + ], + "inertia_axes": [ + 0.7053798897535519, + 0.00013881236232754458, + -0.00015487932660185338, + -0.7088294349664023 + ], + "center_of_mass": [ + -0.0006969464445779132, + 0.0005766026131097972, + 0.08662752170820152 + ], + "bounds": { + "center": [ + -0.0007144139495085606, + 0.0912923043904335, + -0.0005868740846546062 + ], + "max": [ + 0.14697156846523285, + 0.14827285706996918, + 0.14713726937770844 + ], + "min": [ + -0.1483471691608429, + 0.0, + -0.1483914703130722 + ] + }, + "material": "ceramic", + "physics_type": "rigid", + "source": { + "object_name": "D00094 Cake Stand", + "part_name": "D00094 Cake Stand" + }, + "collision": {}, + "reasoning": "The object appears to be a single rigid ceramic or porcelain cake-stand/pedestal tray. With no product data supplied, I assume a real-world scale of roughly 0.33–0.36 m top diameter, 0.19–0.23 m base diameter, and 0.17–0.21 m total height, with 5–9 mm ceramic wall thickness. Porcelain/ceramic material density is typically about 2200–2400 kg/m^3, but the stand is hollow/thin-walled in places, so a realistic total mass is estimated at about 2.2 kg. The center of mass should lie on the central vertical axis, approximately 0.09–0.11 m above the bottom, because the top tray and lower base dominate the mass. Approximate inertia would be on the order of Ixx/Iyy 0.018–0.022 kg·m^2 and Izz 0.020–0.026 kg·m^2 for the assumed dimensions. Static friction is estimated at 0.48 and dynamic friction at 0.36 for matte/glazed ceramic contact; if the bottom surface is polished, reduce these by about 0.1. Restitution is kept low at 0.28 because ceramic is stiff but dissipative and brittle, and low bounce improves contact stability in PhysX. For Isaac Sim v4.5, a single convex hull is not recommended because it would fill the shallow tray and bridge the raised rim; convex decomposition or a compound collider made from cylinders/frustums is preferred. Use decomposition pieces for the tray surface, raised rim, pedestal column, and base. Contact offset of about 5 mm is appropriate for this meter-scale thin-rim object; rest offset should remain 0 mm or very small to avoid visible hovering and to keep items sitting correctly in the tray. CCD is enabled as a safe default because the rim and tray shell are thin; it may be disabled for purely static or very slow scenes. Compliant contacts should remain disabled for a non-deformable ceramic body; if contact chatter occurs, increase solver iterations before adding compliance. Recommended non-schema runtime limits are max linear velocity around 5 m/s, max angular velocity around 20 rad/s, linear sleep velocity near 0.02 m/s, and angular sleep velocity near 0.1 rad/s. If mass is computed from a simplified solid collider instead of using the explicit mass override, use an effective density closer to 600–800 kg/m^3 to avoid making the hollow stand unrealistically heavy.", + "static_friction": 0.48, + "dynamic_friction": 0.36, + "restitution": 0.28, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A cream-white ceramic pedestal tray with a shallow circular top, rounded raised rim, tapered central column, and matching round base.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.29532, + 0.295504, + 0.148339 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 2.2 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 38, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00095 Can/IsaacSim_assets_69f815d7d09344200f0b1a44/physics_69f815d7d09344200f0b1a44.json b/batch1/D00095 Can/IsaacSim_assets_69f815d7d09344200f0b1a44/physics_69f815d7d09344200f0b1a44.json new file mode 100644 index 0000000000000000000000000000000000000000..3905d421934ffe4dea2e971c0d5ea7844a3f2085 --- /dev/null +++ b/batch1/D00095 Can/IsaacSim_assets_69f815d7d09344200f0b1a44/physics_69f815d7d09344200f0b1a44.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00095", + "asset": { + "name": "D00095 Can", + "description": "A plain silver tin-plated steel can with a cylindrical body, rolled top and bottom rims, and shallow concentric lid grooves. The surface is slightly brushed and mottled, with no label or visible openings.", + "object_type": "rigid_bodies", + "total_mass": 0.07, + "bounds": { + "min": [ + -0.048022, + -0.047789, + 4e-06 + ], + "max": [ + 0.047773, + 0.048019, + 0.083253 + ], + "size": [ + 0.095795, + 0.095808, + 0.08324899999999999 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00095 Can", + "mass": 0.07, + "density": 165.0, + "volume": 0.0005995264254885234, + "inertia": [ + 8.027459187205638e-05, + 8.047666037162658e-05, + 8.05013230319247e-05 + ], + "inertia_axes": [ + 0.7197856003449838, + 0.06506799481968163, + -0.6858704111175342, + 0.08518582475753549 + ], + "center_of_mass": [ + -0.00014143777079739613, + 0.00010684846342150833, + 0.04165024976051112 + ], + "bounds": { + "min": [ + -0.048022, + -0.047789, + 4e-06 + ], + "max": [ + 0.047773, + 0.048019, + 0.083253 + ], + "size": [ + 0.095795, + 0.095808, + 0.08324899999999999 + ] + }, + "material": "tin_plated_steel", + "physics_type": "rigid", + "source": { + "object_name": "D00095 Can", + "part_name": "D00095 Can" + }, + "collision": {}, + "reasoning": "The object appears to be a small unlabeled metal tin can: a thin-walled cylindrical steel shell with rolled seams and pressed lid features. Because no real dimensions or product data are provided, I assume a representative small can of about 85 mm diameter and 75 mm height. The full outer bounding volume is approximately pi*(0.0425 m)^2*0.075 m = 4.26e-4 m^3. For an empty thin steel shell, using tin-plated steel density near 7850 kg/m^3, wall/lid thickness around 0.20-0.30 mm, and extra metal in the rolled rims, the metal volume is roughly 8-9e-6 m^3, giving a total mass near 0.06-0.08 kg; 0.07 kg is a reasonable simulation mass for the visible shell. The reported root density is therefore an effective rigid-body density relative to the closed outer collider volume, about 0.07 / 4.26e-4 = 165 kg/m^3. If this is intended to represent a filled sealed food can rather than an empty shell, the mass should be increased substantially, typically to about 0.30-0.50 kg depending on scale and contents, while the contact material would remain steel. The dominant contact material is dull tin-plated steel, so dry steel-like friction is appropriate: static friction around 0.50 and dynamic friction around 0.40-0.45. Restitution is set to 0.55, lower than an ideal solid steel sphere because the thin can shell, crimped rims, and lid embossing dissipate energy through ringing and slight local compliance. For Isaac Sim/PhysX, the can is visually close to convex. A single convex hull is the best performance choice for a dynamic rigid body and should wrap the outer cylindrical side and rims while ignoring small lid grooves. Use a sufficiently high radial-resolution hull to avoid faceted rolling jitter. If exact interaction with lid grooves or rolled seams is required, convex decomposition or SDF mesh can be used, but those are more expensive and usually unnecessary for manipulation or bin-contact scenarios. Contact offset around 1.5-2.0 mm is suitable for an object of this scale; rest offset can remain 0.0 m to avoid artificial separation from surfaces. CCD is recommended because the can is light, has thin features, and may roll or be dropped; it prevents tunneling at high linear or angular speeds. Initial velocity is zero. Practical velocity limits, if configured outside this schema, would be around 10 m/s linear and 100 rad/s angular for robust contact behavior at this scale. Sleep thresholds can remain near PhysX defaults, but for a light rolling can a slightly increased sleep threshold may be useful to prevent long-lived low-energy rolling jitter. Compliant contacts are disabled because this is modeled as a non-deformable rigid metal object; any lossiness is represented mainly through restitution and solver damping rather than spring compliance.", + "static_friction": 0.5, + "dynamic_friction": 0.42, + "restitution": 0.55, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A plain silver tin-plated steel can with a cylindrical body, rolled top and bottom rims, and shallow concentric lid grooves. The surface is slightly brushed and mottled, with no label or visible openings.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.095795, + 0.095808, + 0.08324899999999999 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.07 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 59, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00097 Candle/IsaacSim_assets_69f1ff3859057a93105a1314/physics_69f1ff3859057a93105a1314.json b/batch1/D00097 Candle/IsaacSim_assets_69f1ff3859057a93105a1314/physics_69f1ff3859057a93105a1314.json new file mode 100644 index 0000000000000000000000000000000000000000..63de95db280e2fa1f0d52228893f2411beee85f9 --- /dev/null +++ b/batch1/D00097 Candle/IsaacSim_assets_69f1ff3859057a93105a1314/physics_69f1ff3859057a93105a1314.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00097", + "asset": { + "name": "D00097 Candle", + "description": "A cream-colored cylindrical wax candle with a small charred wick seated in a speckled gray ceramic cup with a rounded handle. The cup has a matte glazed stoneware finish and the candle surface appears smooth and slightly translucent.", + "object_type": "rigid_bodies", + "total_mass": 0.82, + "bounds": { + "min": [ + -0.043349, + -0.036782, + -1.8e-05 + ], + "max": [ + 0.051318, + 0.042208, + 0.085129 + ], + "size": [ + 0.094667, + 0.07899, + 0.085147 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00097 Candle", + "mass": 0.82, + "density": 1200.0, + "volume": 0.0004017676662905973, + "inertia": [ + 0.0006628887722186478, + 0.000712437299275887, + 0.0008165816746455187 + ], + "inertia_axes": [ + 0.5111400113920938, + 0.17045647717762347, + -0.6918342615625296, + 0.4806722715848234 + ], + "center_of_mass": [ + -0.0006195897916289686, + 0.0006409963031602785, + 0.03782267062545224 + ], + "bounds": { + "min": [ + -0.07027500122785568, + -0.05795200169086456, + -4.8999998398358e-05 + ], + "max": [ + 0.07315699756145477, + 0.05882300063967705, + 0.13504700362682343 + ], + "center": [ + -0.005950700238741078, + 0.0005943784100799326, + 0.05675234970498145 + ] + }, + "material": "ceramic", + "physics_type": "rigid", + "source": { + "object_name": "D00097 Candle", + "part_name": "D00097 Candle" + }, + "collision": {}, + "reasoning": "The object appears to be a wax pillar candle held in a small ceramic mug-like cup. With no product data provided, the estimates assume an outer cup diameter of roughly 90–100 mm, cup height of 60–70 mm, candle diameter of 75–85 mm, and total wax height of about 90–110 mm including the portion inside the cup. Paraffin/soy candle wax typically has density near 850–950 kg/m^3; glazed stoneware/ceramic is typically 2000–2400 kg/m^3. A plausible wax mass is about 0.35–0.50 kg and the ceramic holder including handle is about 0.30–0.45 kg, giving a total rigid body mass estimate of approximately 0.82 kg. The reported density is an effective mixed density for assigning a single USD Physics material to the combined rigid body rather than the true density of either wax or ceramic alone. External contact is dominated by the glazed ceramic base, so friction is set in the ceramic/plastic-like range: static friction about 0.55 and dynamic friction about 0.45 on a typical tabletop. Restitution is low because the wax core and ceramic cup dissipate energy and the object should not bounce noticeably; 0.12 is appropriate for stable contact behavior. For Isaac Sim v4.5/PhysX, convex decomposition is preferred because the visible shape contains a mostly cylindrical body plus a handle with a hole and concave regions around the cup rim. A single convex hull would overfill the handle opening and cup profile, while an SDF or triangle mesh collider is usually unnecessary for a dynamic rigid body of this size unless very high geometric fidelity is required. Recommended decomposition would use separate convex parts for the wax cylinder, ceramic cup shell/body, handle, and bottom foot/rim. Contact offset of 0.002 m and rest offset of 0.0 m are suitable for a 0.1 m scale object, balancing stable contact generation against visible hovering. CCD is not required for normal tabletop motion but should be enabled if the asset is dropped, thrown, or moved faster than about 2–3 m/s, especially because the handle and rim are relatively thin. Initial velocity is set to zero. Practical velocity limits for stable industrial-scale scenes would be about 5 m/s linear and 20 rad/s angular, with sleep enabled using default PhysX thresholds or a mass-normalized sleep threshold around 0.005–0.02 to allow the object to hibernate when resting. Compliant contacts should remain disabled for this non-deformable rigid approximation; the wax is soft relative to ceramic, but modeling it as compliant would usually add instability and cost unless indentation behavior is specifically needed.", + "static_friction": 0.55, + "dynamic_friction": 0.45, + "restitution": 0.12, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A cream-colored cylindrical wax candle with a small charred wick seated in a speckled gray ceramic cup with a rounded handle. The cup has a matte glazed stoneware finish and the candle surface appears smooth and slightly translucent.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.094667, + 0.07899, + 0.085147 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.82 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 59, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00261 Decorative Lamp/IsaacSim_assets_69f234a459057a93105e985d/physics_69f234a459057a93105e985d.json b/batch1/D00261 Decorative Lamp/IsaacSim_assets_69f234a459057a93105e985d/physics_69f234a459057a93105e985d.json new file mode 100644 index 0000000000000000000000000000000000000000..a9ffe583c4a1a799209cf4b217841d57a313f59e --- /dev/null +++ b/batch1/D00261 Decorative Lamp/IsaacSim_assets_69f234a459057a93105e985d/physics_69f234a459057a93105e985d.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00261", + "asset": { + "name": "D00261 Decorative Lamp", + "description": "A table lamp with a teal painted ceramic base, brushed brass metal stem, exposed glass bulb, and cream woven fabric shade with rolled edges.", + "object_type": "rigid_bodies", + "total_mass": 4.2, + "bounds": { + "min": [ + -0.217958, + -0.207037, + -0.000198 + ], + "max": [ + 0.221792, + 0.218546, + 0.630315 + ], + "size": [ + 0.43975, + 0.425583, + 0.630513 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00261 Decorative Lamp", + "mass": 4.2, + "density": 1800.0, + "volume": 0.010307960291509334, + "inertia": [ + 0.050525090866801944, + 0.16543430944808785, + 0.16684402993227426 + ], + "inertia_axes": [ + 0.5035279714285108, + -0.5030852915925151, + -0.5004941192422488, + -0.49281883890156697 + ], + "center_of_mass": [ + -0.0014485063837874673, + 0.0031259751625453, + 0.1995762120216982 + ], + "bounds": { + "min": [ + -0.217958, + -0.207037, + -0.000198 + ], + "max": [ + 0.221792, + 0.218546, + 0.630315 + ], + "size": [ + 0.43975, + 0.425583, + 0.630513 + ] + }, + "material": "painted_ceramic_stoneware", + "physics_type": "rigid", + "source": { + "object_name": "D00261 Decorative Lamp", + "part_name": "D00261 Decorative Lamp" + }, + "collision": {}, + "reasoning": "Estimated dimensions are approximately 0.65–0.75 m tall, 0.40–0.45 m maximum shade diameter, and 0.22–0.28 m base width. The mass is dominated by the teal painted ceramic/stoneware base, likely with a weighted insert for stability; the brass-colored metal stem/hardware contributes moderate mass, while the fabric shade and glass bulb are comparatively light. A realistic total mass is about 4.2 kg, with the center of mass low in the base/stem region around 0.16–0.20 m above the bottom contact plane. The root material is set to painted ceramic/stoneware because it dominates the support/contact behavior and much of the structural mass, even though the shade has the largest visible surface area. Ceramic/painted surfaces on a typical tabletop have moderate-high friction, so static friction is estimated at 0.55 and dynamic friction at 0.45. Restitution is kept low at 0.25 because the assembled lamp is heavy, irregular, and dissipative despite containing ceramic, metal, and glass elements. For Isaac Sim/PhysX, a single convex hull would incorrectly fill the open shade and concave gaps, while a high-resolution triangle/SDF mesh is usually unnecessary for a tabletop rigid object; convex decomposition or multiple simplified colliders are preferred. Recommended collision approximation is stacked convex/spheroid hulls for the base, cylinders/capsules for the stem and socket, a simplified thin frustum or several convex panels for the shade, and a small sphere/capsule for the bulb. The shade should be given finite collision thickness of at least 3–5 mm if contacts with it matter. CCD can remain disabled for normal placement and slow manipulation, but should be enabled if the lamp is dropped, thrown, or moved faster than about 1–2 m/s near thin geometry. Contact offset around 5–6 mm and zero rest offset are appropriate at meter scale for stable tabletop contacts without visibly floating the base. Compliant contacts are disabled because the model should behave as a rigid decorative object; any fabric flexibility is visual only unless a separate deformable setup is authored.", + "static_friction": 0.55, + "dynamic_friction": 0.45, + "restitution": 0.25, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A table lamp with a teal painted ceramic base, brushed brass metal stem, exposed glass bulb, and cream woven fabric shade with rolled edges.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.43975, + 0.425583, + 0.630513 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 4.2 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 59, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00339 Glass/IsaacSim_assets_69f5b838431507ff7ced387f/physics_69f5b838431507ff7ced387f.json b/batch1/D00339 Glass/IsaacSim_assets_69f5b838431507ff7ced387f/physics_69f5b838431507ff7ced387f.json new file mode 100644 index 0000000000000000000000000000000000000000..e4cd952876d522fbfd3a22628576d14f573b2dcf --- /dev/null +++ b/batch1/D00339 Glass/IsaacSim_assets_69f5b838431507ff7ced387f/physics_69f5b838431507ff7ced387f.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00339", + "asset": { + "name": "D00339 Glass", + "description": "Cylindrical handled mugs with rounded rims, thick bases, and loop handles, shown in glossy ceramic, speckled stoneware, and transparent colored glass finishes.", + "object_type": "rigid_bodies", + "total_mass": 0.38, + "bounds": { + "min": [ + -0.040224, + -0.034978, + 8.86513e-19 + ], + "max": [ + 0.056953, + 0.035582, + 0.080866 + ], + "size": [ + 0.097177, + 0.07056000000000001, + 0.080866 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00339 Glass", + "mass": 0.38, + "density": 2300.0, + "volume": 0.0003588004280920683, + "inertia": [ + 0.0002857303971736895, + 0.00030440884316218654, + 0.00037387435303247376 + ], + "inertia_axes": [ + 0.4913234679944361, + -0.49679281958546534, + -0.5034550705736873, + -0.5082628612439503 + ], + "center_of_mass": [ + 0.00033036704215586, + 0.00022670922176474103, + 0.04061741749410088 + ], + "bounds": { + "min": [ + -0.040224, + -0.034978, + 8.86513e-19 + ], + "max": [ + 0.056953, + 0.035582, + 0.080866 + ], + "size": [ + 0.097177, + 0.07056000000000001, + 0.080866 + ] + }, + "material": "glazed_ceramic", + "physics_type": "rigid", + "source": { + "object_name": "D00339 Glass", + "part_name": "D00339 Glass" + }, + "collision": {}, + "reasoning": "The estimates are for one representative empty coffee mug of the type shown, approximately 90-100 mm tall, 78-85 mm in outside diameter, with a 4-6 mm ceramic wall, a thicker base, and a loop handle. A typical 300-350 mL ceramic or stoneware mug has about 1.5e-4 to 1.8e-4 m^3 of fired ceramic material; using a bulk ceramic density around 2200-2400 kg/m^3 gives a mass of roughly 0.33-0.43 kg, so 0.38 kg is a realistic nominal value. The density value is the bulk material density for glazed ceramic; if the asset uses a single filled convex hull for mass computation, override the mass directly or use an effective hull density around 350-450 kg/m^3 to avoid an unrealistically heavy mug. The dominant contact surface is glazed ceramic/stoneware with a slightly rougher foot ring, so friction is higher than smooth glass but lower than rubber: static friction is estimated at 0.50 and dynamic friction at 0.38 on common tabletop or metal surfaces. Restitution is set to 0.35 because ceramic and glass are stiff but lose energy through impact ringing, micro-slip, and possible chipping; for a fully transparent glass variant, restitution could be raised to about 0.50-0.60 and friction reduced to about 0.30-0.35. The mug is concave because of the open cup cavity and handle loop, so a single convex hull would close the cup and handle opening. Convex decomposition is the best general-purpose PhysX collider choice for dynamic rigid bodies, using separate convex pieces for the cylinder wall, base, rim, and handle; use an SDF mesh only when precise interior containment or very accurate handle contact is required and the performance cost is acceptable. Contact offset is kept small relative to the 4-6 mm wall thickness to avoid early contact artifacts, while still giving stable contact generation. CCD is recommended because the object is small, thin-walled, and may be dropped or moved quickly; sleep thresholds and damping are kept low so the mug settles naturally without jitter.", + "static_friction": 0.5, + "dynamic_friction": 0.38, + "restitution": 0.35, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "Cylindrical handled mugs with rounded rims, thick bases, and loop handles, shown in glossy ceramic, speckled stoneware, and transparent colored glass finishes.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.097177, + 0.07056000000000001, + 0.080866 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.38 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 59, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00378 Herb Pot/IsaacSim_assets_69f5c28b431507ff7cf0d27c/physics_69f5c28b431507ff7cf0d27c.json b/batch1/D00378 Herb Pot/IsaacSim_assets_69f5c28b431507ff7cf0d27c/physics_69f5c28b431507ff7cf0d27c.json new file mode 100644 index 0000000000000000000000000000000000000000..7c0bab6096bd70c5821330fd64833ffbf89468ed --- /dev/null +++ b/batch1/D00378 Herb Pot/IsaacSim_assets_69f5c28b431507ff7cf0d27c/physics_69f5c28b431507ff7cf0d27c.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00378", + "asset": { + "name": "D00378 Herb Pot", + "description": "A terracotta-colored cylindrical planter with a matching saucer, dark potting soil, and a green basil plant with broad veined leaves.", + "object_type": "rigid_bodies", + "total_mass": 2.8, + "bounds": { + "min": [ + -0.097648, + -0.119676, + -0.000306 + ], + "max": [ + 0.104495, + 0.101755, + 0.273246 + ], + "size": [ + 0.20214300000000002, + 0.221431, + 0.27355199999999996 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00378 Herb Pot", + "mass": 2.8, + "density": 1800.0, + "volume": 0.004753171956301214, + "inertia": [ + 0.013617195858471607, + 0.01381112827953365, + 0.013830960650275679 + ], + "inertia_axes": [ + 0.3391919540310999, + -0.7142178003238474, + 0.234106640118792, + 0.5657170963241428 + ], + "center_of_mass": [ + 0.0023486485279314074, + 0.0016363816885156222, + 0.08097120610860234 + ], + "bounds": { + "min": [ + -0.097648, + -0.119676, + -0.000306 + ], + "max": [ + 0.104495, + 0.101755, + 0.273246 + ], + "size": [ + 0.20214300000000002, + 0.221431, + 0.27355199999999996 + ] + }, + "material": "terracotta_ceramic", + "physics_type": "rigid", + "source": { + "object_name": "D00378 Herb Pot", + "part_name": "D00378 Herb Pot" + }, + "collision": {}, + "reasoning": "The visible object is a small tabletop potted herb: a rigid ceramic/terracotta-style pot and saucer, filled with potting soil and carrying lightweight leafy stems. With no product scale supplied, I estimate an outer pot diameter of about 0.16–0.18 m, pot height about 0.13–0.16 m, saucer height about 0.04–0.06 m, and total height including foliage about 0.30–0.38 m. A terracotta shell and saucer of this size, with 5–7 mm walls, would contribute roughly 1.2–1.6 kg. The potting mix volume is approximately 1.8–2.4 L; because it appears to be perlite-containing potting soil rather than dense mineral soil, a moist bulk density around 500–800 kg/m^3 gives about 1.0–1.7 kg. The basil foliage and stems add only around 0.03–0.08 kg. A total mass of 2.8 kg is therefore a realistic rigid-body value for a filled ceramic herb pot. The root material is set to terracotta ceramic because the largest load-bearing/contact surface is the pot/saucer, even though much of the mass is soil. The listed density uses a representative terracotta ceramic density; if generating mass purely from a simplified filled-cylinder collider, an aggregate effective density closer to 550–750 kg/m^3 may be needed, but assigning the explicit 2.8 kg mass is preferable. Rough unglazed terracotta has moderately high friction on typical tabletop or floor materials, so static friction is estimated at 0.62 and dynamic friction at 0.52. Restitution is low, about 0.20, because the soil fill and ceramic pot dissipate impact energy and the real object would chip or crack rather than bounce. For Isaac Sim/PhysX rigid-body use, a single convex hull would over-cover the foliage and bridge open regions around leaves, while a triangle mesh is not ideal for a dynamic rigid body; convex decomposition or a compound set of simple convexes is the best practical choice. The pot/saucer should receive the accurate collision shape, while leaves can be represented by a few simplified convex/ellipsoid hulls or ignored for contact if only the base matters. Contact offset of 0.005 m is appropriate for a 15–40 cm object and improves stable contact generation without visibly floating; rest offset can remain 0.0 m. CCD is not required for normal placement or slow handling, but should be enabled if the asset is thrown, dropped at high speed, or scaled very small. Sleep/hibernation can be left at PhysX defaults or slightly favored because this is a heavy, mostly stationary object; low restitution and explicit mass will help it settle quickly. Compliant contacts are disabled because the object is modeled as a non-deformable rigid assembly; softness of soil and leaves is approximated through low restitution rather than contact compliance.", + "static_friction": 0.62, + "dynamic_friction": 0.52, + "restitution": 0.2, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A terracotta-colored cylindrical planter with a matching saucer, dark potting soil, and a green basil plant with broad veined leaves.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.20214300000000002, + 0.221431, + 0.27355199999999996 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 2.8 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 59, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch1/D00739 Snack/IsaacSim_assets_69fddfcd8102b48e9a293f6c/physics_69fddfcd8102b48e9a293f6c.json b/batch1/D00739 Snack/IsaacSim_assets_69fddfcd8102b48e9a293f6c/physics_69fddfcd8102b48e9a293f6c.json new file mode 100644 index 0000000000000000000000000000000000000000..7ab894b37ecf68fd88a292482c8c6e422f13e816 --- /dev/null +++ b/batch1/D00739 Snack/IsaacSim_assets_69fddfcd8102b48e9a293f6c/physics_69fddfcd8102b48e9a293f6c.json @@ -0,0 +1,139 @@ +{ + "schema_version": "1.0", + "asset_id": "D00739", + "asset": { + "name": "D00739 Snack", + "description": "A small round chocolate peanut-butter cup with a ridged chocolate shell and smooth top surface, seated in a crinkled brown paper liner.", + "object_type": "rigid_bodies", + "total_mass": 0.021, + "bounds": { + "min": [ + -0.023503, + -0.02354, + -1e-05 + ], + "max": [ + 0.023333, + 0.023567, + 0.017125 + ], + "size": [ + 0.046836, + 0.047106999999999996, + 0.017135 + ] + } + }, + "parts": [ + { + "id": "part_00", + "name": "D00739 Snack", + "mass": 0.021, + "density": 900.0, + "volume": 1.966780424183634e-05, + "inertia": [ + 2.4935840810731874e-06, + 2.5192520730694104e-06, + 4.220093365499596e-06 + ], + "inertia_axes": [ + 0.9734388403530445, + 0.0006222606909974308, + -0.0002250349566699228, + -0.22894625186497528 + ], + "center_of_mass": [ + -0.0001278204304615689, + 2.8994945358414987e-05, + 0.009313602459113899 + ], + "bounds": { + "min": [ + -0.023503, + -0.02354, + -1e-05 + ], + "max": [ + 0.023333, + 0.023567, + 0.017125 + ], + "size": [ + 0.046836, + 0.047106999999999996, + 0.017135 + ] + }, + "material": "chocolate_confection_with_waxed_paper_liner", + "physics_type": "rigid", + "source": { + "object_name": "D00739 Snack", + "part_name": "D00739 Snack" + }, + "collision": {}, + "reasoning": "The object appears to be a single standard peanut-butter cup in a paper liner. A typical cup is about 45-50 mm in top diameter, 35-40 mm in bottom diameter, and 15-18 mm tall, with a mass near 20-22 g; the estimate uses 0.021 kg including the thin paper wrapper. Treating the candy as a shallow truncated cylinder gives an occupied volume on the order of 2.2e-5 to 2.4e-5 m^3, so an effective bulk density of about 900 kg/m^3 is appropriate; this is lower than solid chocolate because the wrapper flutes, peanut-butter filling, and shape voids reduce the convex-collider bulk density. The dominant structural mass is chocolate/peanut filling, while the paper liner affects many side and bottom contacts. Friction is estimated slightly above waxed paper but below rubber: static friction about 0.46 and dynamic friction about 0.36 for chocolate/paper against common table, plastic, or metal surfaces. Restitution is very low, about 0.05, because the candy and paper liner are damped and should not bounce appreciably. For Isaac Sim/PhysX, a convex decomposition is recommended instead of a raw triangle mesh for a dynamic rigid body: use a small number of hulls to approximate the tapered circular body and fluted wrapper, and reserve SDF mesh collision only if the corrugated rim must be contacted accurately. A single convex hull is faster but will smooth over the flutes and outer paper folds. Because this is a small, light object, contact_offset should be much smaller than Isaac defaults: about 1.5 mm with rest_offset near 0 keeps contacts stable without visible hovering. CCD is enabled because a 15-18 mm tall object can tunnel at normal drop or manipulation speeds at 60 Hz; recommended linear velocity limit is roughly 5 m/s and angular velocity limit 50-75 rad/s if many such objects are simulated. For hibernation/sleep, a low sleep threshold around 5e-4 to 2e-3 mass-normalized kinetic energy is appropriate so the candy settles quickly but does not sleep during light contacts. The compliant contact settings approximate the slight give of chocolate and paper while keeping the body rigid; stiffness around 5000 N/m and damping around 25 N*s/m are stable at 120 Hz for this mass and reduce jitter during grasping or stacking.", + "static_friction": 0.46, + "dynamic_friction": 0.36, + "restitution": 0.05, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "is_structural_root": true, + "description": "A small round chocolate peanut-butter cup with a ridged chocolate shell and smooth top surface, seated in a crinkled brown paper liner.", + "semantic": { + "qid": null + }, + "non_visual_material": null + } + ], + "articulation": { + "has_joints": false, + "joints": [] + }, + "units": { + "length": "m", + "mass": "kg" + }, + "simulation": { + "fix_base": false + }, + "provenance": { + "source_schema": "legacy_batch1_physics", + "legacy_reasoning_preserved": true, + "legacy_overall_assessment": "", + "verification_note": "Bounds and collision geometry were read from the delivered USD; runtime drop/contact behavior remains unverified.", + "usd_world_bounds_source": "USD visual mesh extent", + "collision_source": "USD PhysicsCollisionAPI geometry" + }, + "validation": { + "overall": "partial", + "scale": { + "status": "recorded", + "confidence": "medium", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.046836, + 0.047106999999999996, + 0.017135 + ] + }, + "mass": { + "status": "not_checked", + "confidence": "low", + "value_kg": 0.021 + }, + "collision": { + "status": "recorded", + "confidence": "medium", + "shape_count": 58, + "approximations": [ + "convexHull" + ] + }, + "articulation": { + "status": "not_checked", + "confidence": "low", + "moving_joints": 0 + } + } +} diff --git a/batch33/D00176_Container_Box/IsaacSim_assets_6a7d9035b7a9c4204a795288/physics_6a7d9035b7a9c4204a795288.json b/batch33/D00176_Container_Box/IsaacSim_assets_6a7d9035b7a9c4204a795288/physics_6a7d9035b7a9c4204a795288.json new file mode 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